werner291

I expect that this is going to break some things that relied on the outcome of this method being only `JointConstraint`s, though it should only affect robots with floating joints.

Ok... This should to it. Had some difficulties getting this PR quite aligned with `master`, but I think this is correct?

Huh, not sure what was going on here... I think this was stuck on WIP and I kinda forgot about it. Should be ready to merge, though.

Ok, sorry about that, I'm really not sure what happened here. Oddly enough, I was at some point under the distinct impression that what I wrote here resolved some issue...

Sorry, I have no idea how I requested five different reviews.

Question: Why does the `RobotState::distance` need the `JointModelGroup` exactly? And why not in the collision environment? What is the intended idea here?

The adversarial test now passes! However, I seem to have broken one of the earlier tests, but I'm not sure what I did wrong. What exactly is the purpose of...

Bump?

Perhaps that's an option. I considered proposing that instead, but since this is a public method, that might break existing code that relies on the vertex ordering specified in the...

As far as I can tell, this affects benchmarking as well, since it calls the same method: https://github.com/KavrakiLab/robowflex/blob/master/robowflex_library/src/benchmarking.cpp#L216