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fix(robot): preserve link topology when copying robots - #732
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huxiaoyi-ovo wants to merge 2 commits into
Open
huxiaoyi-ovo wants to merge 2 commits into
huxiaoyi-ovo wants to merge 2 commits into
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Up to standards ✅🟢 Issues
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| Metric | Results |
|---|---|
| Complexity | 0 |
| Duplication | -1 |
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## main #732 +/- ##
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Coverage 0.00% 0.00%
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Files 143 143
Lines 14269 14278 +9
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Summary
Fixes #730.
Copied URDF/ETS robots can retain references to links in the original robot, causing
copy().rne()to fail. The same problem affectscoriolis()becausenofriction()replaces the copied robot's links with another set of disconnected copies.This PR addresses both root causes:
BaseRobot.__deepcopy__()using the existing parent-name resolution mechanism.nf._links.The test verifies correct parent/child references, unchanged original topology, matching inverse dynamics results, and successful
coriolis()calculations.Validation
Validated commit
fbc9474in [fork CI PR #2](huxiaoyi-ovo#2).Only three files changed. No public API signatures or inverse dynamics equations were modified.