Floating-base Model from SDF?

[alberthli]

I have an SDF of a floating robot hand that I'm trying to load. However, upon creating the Chain, I find that there are no states associated with the base of the robot.

I see that the joint types allowed do not include floating-base joints, and the Chain also therefore doesn't have this functionality. How big of an effort would it be to add this?

[LemonPi]

Hi, for simplicity and consistency all the coordinates are given in robot frame. For a floating-base robot inside of a global world frame, you'll need to manage the world-to-robot and robot-to-world frame transform explicitly.