Rethink Link::SetWorldPose in Simbody (Featherstone Solvers)

gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

http://classic.gazebosim.org/

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Open osrf-migration opened 10 years ago

osrf-migration commented 10 years ago

Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

Currently projects link to pose as best as it can. But better yet, look for 6dof free link and move the entire assembly.

osrf-migration commented 10 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

Per discussion, look for canonical link or search up the kinematic chain until we hit a 6dof mobilizer, then call set pose on that body.

osrf-migration commented 10 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

osrf-migration commented 7 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).