bullet-featherstone: Fix model frame data pose #649
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
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🦟 Bug fix
Related issue #648
Summary
Fix bullet-featherstone's model frame data pose.
Also expanded test to cover nested model / link / collision
More info:
I added a couple of fields in
ModelInfo(modelToRootLinkTfandnestedModelFromRootModelTf) to store transforms that are computed in SDFFeatures. These transforms are then used in KinematicFeatures for computing model and nested model frame data.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.