Bug fix/erroneous elevator joint #191
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ds58
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Sep 19, 2024
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| # __IMPORTANT NOTE: READ-ONLY REPO, SCS2 GOT MOVED TO GITHUB: https://github.com/ihmcrobotics/simulation-construction-set-2 __ | ||
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What is this addition to the README?
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I think this was a Sylvain addition, may not be needed
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Could you undo all the formatting changes to this file so that the only changes are relevant to the bug fix?
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You have a failing test |
ds58
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Sep 19, 2024
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| List<JointDefinition> allJointsMinusRootJoint = new ArrayList<>(robotDefinition.getAllJoints()); | ||
| for (int i = 0; i < allJointsMinusRootJoint.size(); i++) | ||
| { | ||
| if(allJointsMinusRootJoint.get(i).equals(robotDefinition.getFloatingRootJointDefinition())) | ||
| allJointsMinusRootJoint.remove(i); | ||
| } | ||
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You can replace this with
List<JointDefinition> allJointsMinusRootJoint = robotDefinition.getAllJoints();
allJointsMinusRootJoin.remove(robotDefinition.getFloatingRootJointDefinition());
as robotDefinition.getAllJoints() always returns a new ArrayList
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Fixes issue where an erroneous elevator joint gets added when changing offsets within a model, causing all of the reference frames to be incorrect.