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UM-ARM-Lab / pytorch_kinematics

Robot kinematics implemented in pytorch
MIT License
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Floating-base Model from SDF? #37

Closed alberthli closed 2 months ago

alberthli commented 8 months ago

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 7 months ago

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.