The proposed approach is to have a user specify a geometry.RefFrame, which is the nominal contact reference frame if it is different than the world frame. If this field is not specified assume identity. I then transform the contact wrench basis via the specified frame so that the correct axes are used.
I have tested this only with Cassie's rotated feet. The h_{} positional constraint functions appear to be working. I am not sure if the manipulation of the wrench basis will adversely affect the constraint forces in the dynamic expressions though.
This definitely needs to be looked over.
The proposed approach is to have a user specify a geometry.RefFrame, which is the nominal contact reference frame if it is different than the world frame. If this field is not specified assume identity. I then transform the contact wrench basis via the specified frame so that the correct axes are used.
I have tested this only with Cassie's rotated feet. The h_{} positional constraint functions appear to be working. I am not sure if the manipulation of the wrench basis will adversely affect the constraint forces in the dynamic expressions though.