Floating-base Model from SDF?
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alberthli commented
I have an SDF of a floating robot hand that I'm trying to load. However, upon creating the Chain
, I find that there are no states associated with the base of the robot.
I see that the joint types allowed do not include floating-base joints, and the Chain
also therefore doesn't have this functionality. How big of an effort would it be to add this?
LemonPi commented
Hi, for simplicity and consistency all the coordinates are given in robot frame. For a floating-base robot inside of a global world frame, you'll need to manage the world-to-robot and robot-to-world frame transform explicitly.