Fix loading URDF model to the universe with a non-identity base placement

humanoid-path-planner / hpp-pinocchio

Wrapping of Pinocchio library into HPP

BSD 2-Clause "Simplified" License

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Fix loading URDF model to the universe with a non-identity base placement #193

Closed jmirabel closed 7 months ago

jmirabel commented 7 months ago

At the moment,

pinocchio::SE3 bMr = pinocchio::SE3::Identity();
bMr.translation << 1.0, 0.0, 0.0;
hpp::pinocchio::urdf::loadModel(robot, 0, prefix, "anchor", urdfpath, srdfpath, bMr);

does not add the kinematic chain of urdfpath at the correct placement.