How to model robot with float-base

stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

http://stack-of-tasks.github.io/pinocchio/

BSD 2-Clause "Simplified" License

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How to model robot with float-base #2182

Closed LHTLiu closed 4 months ago

LHTLiu commented 4 months ago

i want to know how to modeling the mobile manipulator with float-base,as shown below

I can model the manipulator with traditional method,but i don't konw how to model the mobile . i would like to learn how pinocchio handles this kind of problem？

jcarpent commented 4 months ago

FOr the mobile platform, you can use PlanarJoint to work with X and Y translations and one rotation around the vertical axis. Best, Justin