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verified publisher icon openrr

fix link transform calculation

Open McModknower opened this issue 3 months ago • 1 comments

Links are conceptually attached to their joints. The old code treats them as if they were attached to the joints of the parent node, which is the joints parent. This PR changes this so links use the joint of their node as their parent joint, which is in line with how urdfs are loaded.

McModknower avatar Oct 10 '25 13:10 McModknower