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SDF frames and pose

frame

a coordinate system in space (pose and orientation)

model

  • model frame
  • link frame
  • joint frame
  • custom frame

model frame

The root frame in model used as a default reference frame

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<model name="box">
  <pose>...</pose>  <!-- model frame -->

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<link name="link">
  <pose>...</pose>

Where the link relative to (default model frame)

joint frame

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<joint>
  <pose>...</pose>

custom frame

  • Just a named coordinate system
  • Does NOTHING unless used as reference by relative_to 
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    <frame name="box_frame">
  <pose>0 0 1.5 0 0 0</pose>
</frame>

default behavior

if we don't specify pose it relative to model frame for links, joints, frames