How to use world as a joint link programmically?

asked 2019-03-15 10:46:14 -0600

wil gravatar image

I've been using this SDF to fix linkA to the world, however I am unsure how to do this programmically. 

<joint name="base_joint" type="fixed">
     <parent>world</parent>
     <child>linkA</child>
</joint>

The Joint class functions Load and Attach both take LinkPtr as parameters. How can you replicate the SDF in code? Thanks in advance!

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