pin.forwardKinematics and pin.updateFramePlacements #2215
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LIUHAITAO-CH
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Yes, that is the way to go to get the pose of a frame. The other two methods are useful respectively if you want to know the velocity of a frame (corresponding to a given |
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Hello, I want to get the pose of a joint relative to the world coordinate system, and then use
![image](https://private-user-images.githubusercontent.com/64388319/321262994-304a24c0-2600-456c-8d00-c74d1aa73c7d.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTg3ODQ4NjQsIm5iZiI6MTcxODc4NDU2NCwicGF0aCI6Ii82NDM4ODMxOS8zMjEyNjI5OTQtMzA0YTI0YzAtMjYwMC00NTZjLThkMDAtYzc0ZDFhYTczYzdkLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA2MTklMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNjE5VDA4MDkyNFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWVhNzZlMDNlMDRhODczZmNjMmVmMzA4Nzk2Y2I3MjhhOTc4YmJhNzc5ODkyN2I3OGZlZWE3ZDYyZjU1OWFmNjYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.UgA0s6ps7o7RMBk9NDsemc6aKjjmbY-LNmtlwDiynv0)
pin.forwardKinematics(model, data, q0)
andpose = data.oMi[Joint_id]
, but I noticed that there are two other output methods,How to understand the speed and acceleration input parameters in these two methods?
I want to get the pose of frame (such as fixed joint), add
pin.updateFramePlacements(model, data)
afterpin.forwardKinematics(model, data, q0)
, and then usepose = data.oMf[frame_id]
to get it, right?@jviereck @stephane-caron
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