dart and simbody joint axis interpretation incorrect

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Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

The original report had attachments: Screenshot from 2014-04-02 18:41:01.png

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for this trikey world file example, the joint axis should be radial.

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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need to back implement joint axis in the parent model frame when use_parent_model_frame option is true, or when using sdf 1.4 or earlier.

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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referencing issue #494 and enabling corresponding regression test for dart and simbody after this fix.

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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related bug in drcsim where sandia hand joints are setup incorrectly

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• changed state from "new" to "resolved"

fixed

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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It doesn't fully work yet for dart

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "resolved" to "open"

dart doesn't support parent model frame

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed component from "physics::SimbodyPhysics" to "physics::DARTPhysics"

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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search for dart references in this test

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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Search for uses of GetAxisFrame( in SimbodyPhysics to see how simbody handles this issue.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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See pull request #1203

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "open" to "resolved"

Resolved in pull request #1203

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "resolved" to "closed"