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bullet-featherstone: Fix model frame data pose #649

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bullet-featherstone: Fix model frame data pose #649

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@iche033 iche033 commented Jun 5, 2024

🦟 Bug fix

Related issue #648

Summary

Fix bullet-featherstone's model frame data pose.
Also expanded test to cover nested model / link / collision

More info:

I added a couple of fields in ModelInfo (modelToRootLinkTf and nestedModelFromRootModelTf) to store transforms that are computed in SDFFeatures. These transforms are then used in KinematicFeatures for computing model and nested model frame data.

Checklist

  • Signed all commits for DCO
  • Added tests
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@github-actions github-actions bot added the 🎵 harmonic Gazebo Harmonic label Jun 5, 2024
@iche033 iche033 mentioned this pull request Jun 5, 2024
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@iche033 iche033 added the Bullet Bullet engine label Jun 6, 2024
@azeey azeey added the beta Targeting beta release of upcoming collection label Jul 29, 2024
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beta Targeting beta release of upcoming collection Bullet Bullet engine 🎵 harmonic Gazebo Harmonic
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