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icub-tech-iit / urdf-modifiers

BSD 3-Clause "New" or "Revised" License
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Fixed offset modifier does not take into account multiple child joint #21

Closed CarlottaSartore closed 2 years ago

CarlottaSartore commented 2 years ago

In the fixed offset modifier, the situation in which a link has several child joints is not taken into account, indeed, only the first returned joint is taken into account https://github.com/icub-tech-iit/urdf-modifiers/blob/8a5b9bb6d0f76ac6706691695a2d88789f43a15c/urdfModifiers/core/fixedOffsetModifier.py#L90-L92 thus, in the case of the chest, torso1, torso2 link of the stickbot, the model is not modified correctly, since only one joint is considered.

Maybe this issue is documented somewhere and I did not find it!

C.C. @GrmanRodriguez @AlexAntn @traversaro

GrmanRodriguez commented 2 years ago

Solved in #24. Closing this issue.