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what does pose element mean under model element?

asked 2021-01-06 02:39:17 -0500

Zephyr_8 gravatar image

in sdf documentationlink text(format version 1.5),

image description

the description of pose element said, a position and orientation with respect to the specified frame.

but when learning gazebo tutoriallink text, for example, image description

no specified frame exists.

what does frame mean and how to use it?

if no frame is specified, how to understand the value in pose element? in gazebo GUI, when I finish building my model(assigning some value to pose element), I can still insert the model to any position, does it make sense?

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answered 2021-01-06 16:27:05 -0500

azeey gravatar image

In SDFormat, the pose of any element when no frame is specified is the pose with respect to the parent frame. The parent frame, with some exceptions, is the parent xml element. So for a model, the parent frame would be either the world or another model. Please see for more details.

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Asked: 2021-01-06 02:39:17 -0500

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Last updated: Jan 06