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Why doesn't OCS2 choose to use quaternions to describe the pose of floating base? #77

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HuNingHe opened this issue Jun 5, 2023 · 0 comments

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@HuNingHe
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HuNingHe commented 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.

@HuNingHe 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
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