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Support multiple floating base bodies in multibody_utils #323

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mposa opened this issue Oct 25, 2022 · 0 comments
Open

Support multiple floating base bodies in multibody_utils #323

mposa opened this issue Oct 25, 2022 · 0 comments

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@mposa
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mposa commented Oct 25, 2022

MakeNameToPositionsMap is likely due for an update, given the comments surrounding floating base bodies when it was originally written. I suspect this will have some downstream effects on logging, so will have to be done with care. @AlpAydinoglu hit this issue when trying to use multiple floating bases.

https://github.com/DAIRLab/dairlib/blob/master/multibody/multibody_utils.cc#L182
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