I'm sorry to post an issue here. It would be more convenient if the discussion was opened.
In FactoryFunctions.cpp, I can find that ocs2 build the floating base robot by adding Translation and SphericalZYX joints, instead of using freeflyer joint in pinocchio.
I would like to ask why this was chosen, as I thought it would be better to use quaternions to describe the floating base pose.
I'm sorry to post an issue here. It would be more convenient if the discussion was opened.
In FactoryFunctions.cpp, I can find that ocs2 build the floating base robot by adding Translation and SphericalZYX joints, instead of using freeflyer joint in pinocchio.
I would like to ask why this was chosen, as I thought it would be better to use quaternions to describe the floating base pose.