modify urdf2ztk about inertia/com transformation - Githubissues

mi-lib / roki

RoKi - Robot Kinetics library

MIT License

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modify urdf2ztk about inertia/com transformation #21

Closed categoryik closed 1 year ago

categoryik commented 1 year ago

I found urdf transformation script has a bug about inertia transformation.

it does not transform com position about joint axis item
inverse transformation about inertia is not done appropriately.