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pose element in SDF's joint element

sdf
pose

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

2ros0
11 ●1 ●2 ●5

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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