URDF links as frames in the scene graph

KavrakiLab / tmkit

A Task-Motion Planning Framework

http://tmkit.kavrakilab.org

BSD 3-Clause "New" or "Revised" License

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URDF links as frames in the scene graph #4

Closed clemense closed 6 years ago

clemense commented 6 years ago

Hi, I'm combining URDF and .robray files. I would like to define a frame in robray with its parent being a link in the URDF file. If I use the link name of URDF it doesn't work. I guess my more general question is: how is URDF transformed into frames of the scene graph? Thanks!

clemense commented 6 years ago

Alright, figured it out. It's the joint name.