When creating a fixed constraint between links, the SetJointTransformFromParent currently does not take into account the inertial pose. If an inertial pose offset exists, the fixed constraint causes the 2 models to be displaced from their original position. This PR updates the calculation in SetJointTransformFromParent to include inertial pose offset.
The detachable_joint.world test world is updated to use a model with inertial pose offset - this world is used by the CorrectAttachmentPoints test in detachable_joint common test. The test fails without the changes in this PR.
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
When creating a fixed constraint between links, the
SetJointTransformFromParentcurrently does not take into account the inertial pose. If an inertial pose offset exists, the fixed constraint causes the 2 models to be displaced from their original position. This PR updates the calculation inSetJointTransformFromParentto include inertial pose offset.The
detachable_joint.worldtest world is updated to use a model with inertial pose offset - this world is used by theCorrectAttachmentPointstest indetachable_jointcommon test. The test fails without the changes in this PR.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.