omnidrive not buggy

ichumuh · ichumuh · commit bf9aaa0e2826 · 2025-11-27T22:06:13.000+01:00
diff --git a/src/semantic_digital_twin/world_description/connections.py b/src/semantic_digital_twin/world_description/connections.py
@@ -720,7 +720,7 @@ def add_to_world(self, world: World):
             pitch=self.pitch.variables.position,
             yaw=0,
         )
-        self.kinematicskinematics = odom_T_bf @ bf_T_bf_vel @ bf_vel_T_bf
+        self.kinematics = odom_T_bf @ bf_T_bf_vel @ bf_vel_T_bf
         self.kinematics.child_frame = self.child
 
     @classmethod

Original file line number	Diff line number	Diff line change
`@@ -720,7 +720,7 @@ def add_to_world(self, world: World):`
`720`	`720`	`pitch=self.pitch.variables.position,`
`721`	`721`	`yaw=0,`
`722`	`722`	`)`
`723`		`- self.kinematicskinematics = odom_T_bf @ bf_T_bf_vel @ bf_vel_T_bf`
	`723`	`+ self.kinematics = odom_T_bf @ bf_T_bf_vel @ bf_vel_T_bf`
`724`	`724`	`self.kinematics.child_frame = self.child`
`725`	`725`
`726`	`726`	`@classmethod`