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Thank you Kumpakri for the reply it helped a lot. I didn't get this part of the answer. "If I remember correctly, for SDF file is collision part the base (but rather try it yourself). And you can position the visual and inertial parts with respect to the center of the collision geometry."
Also I still cannot understand how to define the collision pose. So I understand that the link's pose is w.r.t. the model and the inertial pose is the COM wrt the link's origin. But how is the collision frame defined (so that we can find its pose wrt the link's frame.)