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Make the root_link the father of the base_link instead of the other way around #142

Merged
merged 3 commits into from
Sep 29, 2020
Merged

Make the root_link the father of the base_link instead of the other way around #142

merged 3 commits into from
Sep 29, 2020

Commits on Sep 29, 2020

  1. Push new changes to icub-models devel branch

    @traversaro
    traversaro authored Sep 29, 2020
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  2. Make the root_link the father of the base_link instead of the other w… 

    …ay around

This permits to avoid the Gazebo bug described in #140 . 
Furthermore, this will make sure that even after fixed joint lumping the link in Classic Gazebo will be called "root_link".
    @traversaro
    traversaro authored Sep 29, 2020
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  3. Change fixed joint name connecting base_link to root_link to base_lin… 

    …k_fixed_joint

This is for consistency with the rest of "fake links/additional frames", whose joints
have always the name <additional_frame_name>_fixed_joint .
    @traversaro
    traversaro authored Sep 29, 2020
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