Fix ModelFrameSemantics in dartsim. When a model is added to dartsim, a model frame is also always created. So it looks like we can just look up frames to retrieve model frame data in KinematicsFeature instead of using the root body node (which may be at an offset from the model).
Enabled checks for model frame data in kinematic_features
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)
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🦟 Bug fix
Summary
Fix ModelFrameSemantics in dartsim. When a model is added to dartsim, a model frame is also always created. So it looks like we can just look up frames to retrieve model frame data in
KinematicsFeatureinstead of using the root body node (which may be at an offset from the model).Enabled checks for model frame data in
kinematic_featuresChecklist
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.