[parsers] Allow not to remove the filtered joints - Githubissues

jrl-umi3218 / RBDyn

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

BSD 2-Clause "Simplified" License

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[parsers] Allow not to remove the filtered joints #95

Closed gergondet closed 1 year ago

gergondet commented 1 year ago

This PR adds a new parameter to the parsers so that filtered links are not removed but instead this results in:

a better dynamic model (no link mass disappear)
a better looking model

Down the line, using this option creates some problem in mc_rtc (see https://github.com/jrl-umi3218/mc_rtc/commit/bfb315d62204ce7e9101a88c200f08e44040f8d8) and possibly in interfaces that I will look into and fix separately (the assumption is wrong in general because one could also fix the joint in the URDF)