Issue regarding the joint, link, and frame.

[5sik]

auto frame = robot->getFrameByName(joint_names[i])

jointAxis_ = robot->getJointAxis(robot->getBodyIdx(frame.bodyName)); jointAxis_ = robot->getJointAxis(robot->getFrameIdxByName(joint_names[i]));

In other words, the results of robot->getBodyIdx(frame.bodyName) and robot->getFrameIdxByName(joint_names[i]) differ.

<However, the code below is correct.>
robot->getFrameOrientation(robot->getFrameIdxByName(joint_names[i]), joint_rot);

In case of "auto frame = robot->getFrameByName(joint_names[i])"

frame.parentName 과 frame.bodyName이 같다. parentName은 parent, bodyName은 joint에 붙은 child link라고 생각을 했었는데

The results of frame.parentName and frame.bodyName are the same. I had thought that parentName referred to the parent link and bodyName to the child link attached to the joint.

(ps, Additionally, after further checking, it seems that there is no problem with the fixed joint, but this issue appears to occur with the revolute joint.)