That sounds great. The only function I'm currently using is:
ConfigurationSpecification::ExtractIkParameterization
To cover all of the bases, it should be able to filter by robot,
manipulator, and/or type of IkParameterization.
It also seems like we should update or add a convenience function to
make this type of ConfigurationSpecification. Either by adding more
arguments to
IkParameterization::GetConfigurationSpecificationFromType or adding a
new Manipulator::GetIkConfigurationSpecification function that mirrors
Manipulator::GetArmConfigurationSpecification. Which do you prefer?
Thanks,
-Michael
On Fri, Jun 27, 2014 at 5:42 PM, Rosen Diankov <
[hidden email]> wrote:
> we can easily extend the format to be
>
> ikparam_values [iktype] [robotname] [manipname]
>
> for now try adding robotname and manipname to the group name. i think the
> rest of the system should work without a problem. if there's any openrave
> functions that need to differentiate, then let's discuss it.
>
> best,
>
>
>
> 2014-06-28 7:34 GMT+09:00 Michael Koval <
[hidden email]>:
>>
>> Hi Rosen,
>>
>> I'd like to store Cartesian end-effector trajectories in the
>> GenericTrajectory class, e.g. so I can use WorkspaceTrajectoryTracker
>> to lift a workspace trajectory into C-space. It looks like the
>> intended way of doing this is to create an "ikparam_values" group of
>> type Transform6D. (This is what you do in the pr2_turnlever example.)
>>
>> However, I can't figure out how to extend this to a robot with
>> multiple manipulators. Is there any way to embed the name in the
>> ikparam_values group? I am also surprised that the group doesn't
>> contain the robot name, since that information is included in joint
>> and affine groups. Is this intentional?
>>
>> Thanks,
>> -Michael
>>
>>
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