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 (modelToRootLinkTf and nestedModelFromRootModelTf) to store transforms that are computed in SDFFeatures. These transforms are then used in KinematicFeatures for computing model and nested model frame data.
Checklist
[x] Signed all commits for DCO
[x] Added tests
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.
🦟 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.