Sdformat -> mjcf: Fix pose for links in child models#122
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Signed-off-by: Shameek Ganguly <shameek@intrinsic.ai>
Signed-off-by: Shameek Ganguly <shameek@intrinsic.ai>
shameekganguly
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azeey
approved these changes
Feb 18, 2026
| child_model.semantic_pose()) | ||
| for cn in child_kh.world_node.child_nodes: | ||
| cn.resolved_pose *= child_model_pose | ||
| cn.resolved_pose = child_model_pose * cn.resolved_pose |
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🦟 Bug fix
Summary
Fix pose computation for links in nested models when child model pose has a non-identity rotation. Amended existing test cases to include a position as well as a rotation offset.
Also cleaned up some code comments from #119
Checklist
codecheckpassed (See contributing)Generated-by: Remove this if GenAI was not used.
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