GUI transform of static objects fails with Bullet-featherstone

[nkoenig]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build: Binary - Harmonic

Moving static objects through the GUI transform tools works fine with DART, but does not work with bullet-featherstone. When using bullet-featherstone, the static object will snap back to its starting location.

Description

• Expected behavior: When transforming a static object using the the GUI with bullet-featherstone enabled, I would expect the object to stay at the transformed location
• Actual behavior: The static object will snap back to its starting location.

Steps to reproduce

1. Load any world that has a static object using bullet: gz sim -v4 --physics-engine gz-physics7-bullet-featherstone-plugin <world_name.sdf>
2. Using the transform tool, move the static object.