Bug: net contact forces are not populated correctly

[cpezzato]

After merging the last changes from the main into ft-add-pushing, collisions with the last actor added in the simulation are ignored. It looks like the net contact forces are not populated correctly.

To reproduce the bug, run heijn_push_server and heijn_push_client

[c-salmi]

Hmm yeah this is a weird bug, I checked the net contact forces and it indeed doesn't work for the last actor.

Things I checked:

• All actors are part of the same collision group.
• All actors have the collision parameter set to True.
• Adding additional actors works, since one of the obstacles then isn't the last actor anymore. For example, appending x-axis and y-axis without collisions.

Things to investigate:

• Go back to the last working branch and check if collision applies to the last actor there.
• Compare the differences in net contact forces initialization and refresh between branches.

Edit:

But for now I think you can get around this issue by making sure the last actor of the environment is only for visualization, like the x, y axis.

[cpezzato]

I also just checked the example panda_robot_with_obstacles.py we can go through all obstacles, not only the last one