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Hello. I am Naoki Hiraoka, robot_calibration user.
This pull request fixes the method of applying frame offset in
updateURDF
andgetChainFK
.In the previous code, frames are calculated as following
There are two problems.
In
updateURDF
, since rotation is not integrable, output URDF generated byupdateURDF
is different from the one used by optimizer withgetChainFK
.In
getChainFK
, since [offset frame] is applied from the left, [original frame].xyz is affected by [offset frame].rpy.To avoid them, in this pull request, frames are calculated as
in both
updateURDF
andgetChainFK
.