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I'm sorry to post an issue here. It would be more convenient if the discussion was opened.
In FactoryFunctions.cpp, I can find that ocs2 build the floating base robot by adding Translation and SphericalZYX joints, instead of using freeflyer joint in pinocchio.
I would like to ask why this was chosen, as I thought it would be better to use quaternions to describe the floating base pose.
The text was updated successfully, but these errors were encountered:
HuNingHe
changed the title
Why doesn't OCS2 choose to use quaternions to describe the pose of a floating base?
Why doesn't OCS2 choose to use quaternions to describe the pose of floating base?
Jun 5, 2023
I'm sorry to post an issue here. It would be more convenient if the discussion was opened.
In FactoryFunctions.cpp, I can find that ocs2 build the floating base robot by adding Translation and SphericalZYX joints, instead of using freeflyer joint in pinocchio.
I would like to ask why this was chosen, as I thought it would be better to use quaternions to describe the floating base pose.
The text was updated successfully, but these errors were encountered: