Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

worldPose() helper function in Util.hh does not properly compute world poses for Joints #2400

Closed
scpeters opened this issue May 8, 2024 · 3 comments
Labels
bug Something isn't working

Comments

@scpeters
Copy link
Member

scpeters commented May 8, 2024

Description

I believe this is because the recursive pose calculation computes the joint's pose relative to its parent model, rather than relative to its child link (as defined in SDFormat).

Steps to reproduce

  1. TODO: update Unit test to demonstrate the error

Output

@scpeters scpeters added the bug Something isn't working label May 8, 2024
@azeey
Copy link
Contributor

azeey commented May 8, 2024

Related to #1042

@scpeters
Copy link
Member Author

ok, I'll move discussion to #1042

@scpeters
Copy link
Member Author

duplicate of #1042

@scpeters scpeters closed this as not planned Won't fix, can't repro, duplicate, stale May 13, 2024
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
bug Something isn't working
Projects
Archived in project
Development

No branches or pull requests

2 participants