pose element in SDF's joint element

What is the pose relative to? The documentation mentions it is relative to the frame attribute but what if there's no frame attribute added?

I'm trying to define the pose of a joint that connects two links. And I'm wondering if that pose should be relative to the origin of the parent link or whether it should be in world coordinates.

Thank you

Asked by 2ros0 on 2016-10-31 11:06:33 UTC

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Answers

The joint pose is relative to the origin of the joint's child link.

Asked by chapulina on 2016-10-31 11:11:32 UTC

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That's a little counterintuitive. Why is the joint pose defined in the child links coordinate system?

Asked by 2ros0 on 2016-11-01 13:18:39 UTC

Second that, why was it done this way?

Asked by jc on 2018-08-06 15:37:50 UTC