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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
39 stars 10 forks source link

Print Link Origin Frame for Robot #350

Open varunagrawal opened 2 years ago

varunagrawal commented 2 years ago

When we print a robot with robot.print(), is it useful to print the link origin frame as well?

As per the URDF docs, a joint's frame coincides with it's child link's origin frame, so printing this out would help with creating mental correspondences and ensuring the users understanding is correct.

All we would need to do is print out bMlink similar to how we print out bMcom.