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Add check for valid world pose cmd values #2640

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Oct 4, 2024
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Add check for valid world pose cmd values #2640

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12 changes: 10 additions & 2 deletions src/systems/physics/Physics.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2404,6 +2404,14 @@
<< std::endl;
return true;
}
math::Pose3d worldPoseCmd = _poseCmd->Data();
if (!worldPoseCmd.Pos().IsFinite() || !worldPoseCmd.Rot().IsFinite() ||
worldPoseCmd.Rot() == math::Quaterniond::Zero)
{
gzerr << "Unable to set world pose. Invalid pose value: "
<< worldPoseCmd << std::endl;
return true;

Check warning on line 2413 in src/systems/physics/Physics.cc

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src/systems/physics/Physics.cc#L2411-L2413 

Added lines #L2411 - L2413 were not covered by tests
}

// TODO(addisu) Store the free group instead of searching for it at
// every iteration
Expand All @@ -2423,7 +2431,7 @@
math::Pose3d linkPose =
this->RelativePose(_entity, linkEntity, _ecm);

freeGroup->SetWorldPose(math::eigen3::convert(_poseCmd->Data() *
freeGroup->SetWorldPose(math::eigen3::convert(worldPoseCmd *
linkPose));

// Process pose commands for static models here, as one-time changes
Expand All @@ -2432,7 +2440,7 @@
auto worldPoseComp = _ecm.Component<components::Pose>(_entity);
if (worldPoseComp)
{
auto state = worldPoseComp->SetData(_poseCmd->Data(),
auto state = worldPoseComp->SetData(worldPoseCmd,
this->pose3Eql) ?
ComponentState::OneTimeChange :
ComponentState::NoChange;
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