The joint frame from urdf is not necessarily located at the end of parent link, so its information does not give the coordinate of the end point of the link. I am looking for a relative transformation between the physical end points of each link. I mean the start and end points where link get connected to other links and the physical joints exist. This information does not seem to be extractable from urdf::ModelInterface. I understand I can get these info from the CAD files like *.dae but is there anyways to have access to this geometry info of each link through urdf?
The joint frame from urdf is not necessarily located at the end of parent link, so its information does not give the coordinate of the end point of the link. I am looking for a relative transformation between the physical end points of each link. I mean the start and end points where link get connected to other links and the physical joints exist. This information does not seem to be extractable from
urdf::ModelInterface. I understand I can get these info from the CAD files like *.dae but is there anyways to have access to this geometry info of each link through urdf?