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bullet-featherstone: FrameData is incorrect for collisions, joints, and models #648
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The JointFrameSemantics may also be incorrect in bullet-featherstone plugin. After fixing / enabling these frame data checks, the test fails:
The |
iche033
changed the title
bullet-featherstone: Velocities FrameData for collisions do not take into account collision pose offset.
bullet-featherstone: FrameData is incorrect for collisions, joints, and models
Jun 5, 2024
ModelFrame data is also incorrect, see #647 (comment). This commit adds a failing test: 27deae9 |
This was referenced Jun 5, 2024
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Environment
Description
In bullet-featherstone plugin, The frame data computation is done in the KinematicsFeatures::FrameDataRelativeToWorld. The Pose FrameData for collisions was updated to take into account collision pose offset in #647. However, the velocities FrameData still do not incorporate the collision pose offset.
The text was updated successfully, but these errors were encountered: