We recently found out that in Pinocchio (dynamics library) the velocity of the floating-base is expressed in the local frame, whereas in the SoT we express it in the world frame. We need to change this in the utility functions used to convert the robot velocity vector from SoT to URDF convention (and viceversa).
We recently found out that in Pinocchio (dynamics library) the velocity of the floating-base is expressed in the local frame, whereas in the SoT we express it in the world frame. We need to change this in the utility functions used to convert the robot velocity vector from SoT to URDF convention (and viceversa).