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stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
http://stack-of-tasks.github.io/pinocchio/
BSD 2-Clause "Simplified" License
1.82k stars 383 forks source link

[Model] Fix appendModel for parallel joints at the base #2295

Closed MegMll closed 3 months ago

MegMll commented 3 months ago

Solves #2293

When joints at the base are in parallel, the transformation between modelA and modelB was applied only the first joint of the list, whereas it should be applied on all joints whose parent is the base of modelB.

jcarpent commented 3 months ago

@MegMll Could you add simple unit tests to check this fix?

HarisCavkic commented 3 months ago

Hello,

We are currently using pinocchio with pip(linux/Mac) and with conda-forge(Win). When can we expect updates for this fix?

Kind regards, Haris

nim65s commented 3 months ago

pip currently has big delays. Don't expect anything new for a month or so.

jorisv commented 3 months ago

We will probably make a new Pinocchio release next week. The conda-forge package should be available one day after the release.