Fixed / Floating frame

[ahoarau]

I'm thinking about having 2 functions in orca::robot::RobotModel to differenciate fixed base and floating robots:

robot->setFixedBaseFrame("base_of_the_manipulator"); // robot is fixed somewhere in the world.
// and
robot->setFloatingFrame("pelvis"); // robot can move in the world

@rlober , @iadev , @vpadois ?

[iadev]

TL;DR: Yes

To me this is much clearer indeed than inferring it from whether or not tasks are defined on 6+ndof.
Question though: what's the point of explicitly specifying which frame is the base ?
Is that just to have a "default" base frame for all tasks ?

[ahoarau]

Is that just to have a "default" base frame for all tasks ?

That and when setting the robot state at every timestep, you need to specify the World to Base transform (and twist).