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robotology-playground / WBI-Toolbox

Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers
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Document world/base orientation #19

Closed traversaro closed 10 years ago

traversaro commented 10 years ago

Thanks @jeljaik !

jeljaik commented 10 years ago

In case someone looks at this issue before the documentation, the default world reference frame is at the same location as the left foot reference frame with an additional rotation to look like this:

forwardkinematics

The block wholeBodyModel/Set World Reference Frame can be used to change this to the right foot.

This information can also be found in the home page of the repo wiki: https://github.com/robotology-playground/WBI-Toolbox/wiki