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Link Local Coordinate Frame

I wanted to get the local coordinate frame of a link relative to the world. I guess it can be obtained by doing a coordinate transformation using the pitch, roll, yaw parts of the WorldPose result but it would be prefferable if there's something in the gazebo api that already does that or may be in the ignition math library function that does transformation. The picture below might better explain what I wanted. image description

Thanks!

Link Local Coordinate Frame

I wanted to get the local coordinate frame of a link relative to the world. I guess it can be obtained by doing a coordinate transformation using the pitch, roll, yaw parts of the WorldPose result but it would be prefferable preferable if there's something in the gazebo api that already does that or may be in the ignition math library function that does transformation. For example one might want the direction of the X axis so if there's a better way than transformation which gazebo already does. The picture below might better explain what I wanted. image description

Thanks!