Fix prismatic joints transform in `math.joint_model.supported_joint_motion`

ami-iit / jaxsim

A differentiable physics engine and multibody dynamics library for control and robot learning.

https://jaxsim.readthedocs.io/

BSD 3-Clause "New" or "Revised" License

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Closed flferretti closed 1 month ago

flferretti commented 1 month ago

The method jaxlie.SE3.from_translation used to calculate the parent-child transform for prismatic joints doesn't actually exists