pin.forwardKinematics and pin.updateFramePlacements

[LHTLiu]

Hello, I want to get the pose of a joint relative to the world coordinate system, and then use pin.forwardKinematics(model, data, q0) and pose = 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) after pin.forwardKinematics(model, data, q0), and then use pose = data.oMf[frame_id] to get it, right?

@jviereck @stephane-caron

[stephane-caron]

I want to get the pose of frame (such as fixed joint), add pin.updateFramePlacements(model, data) after pin.forwardKinematics(model, data, q0), and then use pose = data.oMf[frame_id] to get it, right?

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 q and v), or the acceleration of a frame (corresponding to a given q, v and a).