How to read link's parameter

[Creasento]

I want to read some link's parameters such as pos, vel (of their CoM).

Fortunately, I can read parameters of joint so I make some virtual fixed joints in link CoM and read it.
But I think if can read directly to links, it will be more useful.

Q : Is there an read API such as getFrame~~ for links?

[jhwangbo]

The URDF convention does not have a frame attached to a link. There is no link frame but only joint frames. So I cannot define a link velocity...

[Creasento]

Thank you for the reply. I'm going to use the present way :)