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pose element in SDF's joint element

asked 2016-10-31 11:06:33 -0500

2ros0 gravatar image

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

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answered 2016-10-31 11:11:32 -0500

chapulina gravatar image

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

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

2ros0 gravatar image2ros0 ( 2016-11-01 13:18:39 -0500 )edit

Second that, why was it done this way?

jc gravatar imagejc ( 2018-08-06 15:37:50 -0500 )edit
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Asked: 2016-10-31 11:06:33 -0500

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Last updated: Oct 31 '16