I believe it is wrong to put height in the contact point structure. It seems like a hack to deal with the fact that the body is originally at 0,0,0 in many URDF files. In a later PR I will make sure the examples work, but this is a smaller PR to make the later PRs easier to review. I can merge all of them only after the examples work.
I believe it is wrong to put height in the contact point structure. It seems like a hack to deal with the fact that the body is originally at 0,0,0 in many URDF files. In a later PR I will make sure the examples work, but this is a smaller PR to make the later PRs easier to review. I can merge all of them only after the examples work.