Add example to visualize floating base velocity #2143
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Co-authored-by: Joris Vaillant <[email protected]>
Co-authored-by: Joris Vaillant <[email protected]>
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After several questions/discussions (e.g. #1657, #1357, #1137, #1122) about the conventions used for the velocity vector for different joints that can serve as a floating base, I started a small script to verify.
This script builds a simple robot that is just a box with dimensions x=0.8, y=0.4, z=0.2. The floating base can be set to either
JointModelFreeFlyer,JointModelSphericalZYXorJointModelSpherical. It prints several properties of the mode, increments each velocity component by 1, calculates the resultinga,v_next,q_nextviapin.abaand visualizes the integrated configuration q_next via MeshCat.This could be useful for people who want to try it out for themselves. Also, we could add more joints in the future to test them as well.