Fix floating-base Jacobian column switch bug, fix floating-base collision links

ipab-slmc / exotica

Extensible Optimization Framework

https://ipab-slmc.github.io/exotica

BSD 3-Clause "New" or "Revised" License

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Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

This PR fixes a massive bug which swapped the columns (!) of two of the three rotational components of the floating-base. Yikes.

It also fixes the treatment of floating-base links for collision avoidance task maps.