Can we have a way to update the root location of RobotModel
See original GitHub issueFeature Request
As a developer who have ToolModel
with multiple links and joints, I would like to be able to update the location of a that ToolModel
object and visualize it.
At the moment, There is no dedicated ToolModelArtist, I user RobotModelArtist to visualize my tool, as such I use RobotModelArtist.update()
to update the robot’s joint state. However, I cannot update the tool’s root’s location.
I needed this because I want to visualized my gripper tool at my target object and perform a collision check before attempting IK or Pathplan, therefore I do not have any robot attaching to that tool, and thus not able to use the RobotModelArtist.update_tool()
. It would be nice to have a function to set / update the root transformation (as described in the tutorial as Robot coordinate frame RCF
) of the robot, perhaps even keeping its state.
I have tried to use the RobotArtistModel._update()
which has a parent_transformation
input, but the result is not correct. The root of my ToolModel is not transformed, only the links are transformed.
from compas_ghpython.artists import RobotModelArtist
t = Transformation.from_frame(tool_RCF_frame)
artist = RobotModelArtist(tool_model)
artist._update(tool_model, tool_model.current_configuration.joint_dict, parent_transformation = t)
visual = artist.draw_visual()
# The results are not correct
Notice my gripper fingers are in the transformed position, but the gripper body (root) is not.
Issue Analytics
- State:
- Created 3 years ago
- Comments:8 (6 by maintainers)
@yck011522 ok, there’s quite a bit underlying this seemingly trivial request:
add_joint
method, leading to the incorrect recalculation of the chain. This was fixed and merged yesterday. With that, you can move a robot model’s base withmodel._create(model.root, your_desired_transformation)
(however that this is still a private method)fixed
joint between a non-geometryworld
link (or name it whatever you want), and yourgripper_base
. As far as I understand, this is the standard way most robots are defined in ROS (mobile robots introduce even more intermediate frames).roslibpy
does, but we haven’t integrated it incompas/compas_fab
).Based on that, I’m starting to fix this with this pull request which adds RCF setting for the model only (supporting both with or without a fixed frame in the URDF). If you have time to check this out and see if it works for you, it’d be appreciated.
Next, I will add one or two more pull requests to hook up that change into COMPAS FAB and have MoveIt reflect the change accordingly.
@gonzalocasas we are using ROS backends via Docker. Thanks!