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Handle oblique axes in joint reflection - #104
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Embed the input values in the xacro document instead of patching xacro._global_symbols. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Joint reflection currently reverses the entire axis when any component lies along a reflected direction. This gives the wrong result for oblique axes. Reflect each axis component individually and forward the optional rotation-reflection setting to joint origins.
Validation: the Jazzy build and 13 tests pass, including oblique revolute/prismatic motion, principal-axis compatibility and joint limits.