Quantcast

localtooltransform

classic Classic list List threaded Threaded
2 messages Options
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

localtooltransform

baxelrod

What is the proper procedure for using manipulator.SetLocalToolTransform()?  Once I use it, I don’t seem to be able to call manipulator.FindIKSolutions() anymore.  Do I need to regenerate ikfast files on the fly?

 

Thanks,

Ben

 

Ben Axelrod

Sr. Robotics Software Engineer

iRobot Corporation

8 Crosby Drive, M/S 8-1

Bedford, MA 01730

(781) 430-3315

[hidden email]

 


------------------------------------------------------------------------------
Dive into the World of Parallel Programming The Go Parallel Website, sponsored
by Intel and developed in partnership with Slashdot Media, is your hub for all
things parallel software development, from weekly thought leadership blogs to
news, videos, case studies, tutorials and more. Take a look and join the
conversation now. http://goparallel.sourceforge.net/
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Re: localtooltransform

Rosen Diankov
Administrator
Dear Ben,

Once the local tool transform changes, the IK function will be different since its a different offset. So yes, you'll have to call ikfast again to set the correct IK solver. OpenRAVE internally validates that the correct IK solver is used using the kinematics hashes. you'll notice that every ikfast file has the manipulator hash that it was generated with.

best,


2015-02-25 6:20 GMT+09:00 Axelrod, Ben <[hidden email]>:

What is the proper procedure for using manipulator.SetLocalToolTransform()?  Once I use it, I don’t seem to be able to call manipulator.FindIKSolutions() anymore.  Do I need to regenerate ikfast files on the fly?

 

Thanks,

Ben

 

Ben Axelrod

Sr. Robotics Software Engineer

iRobot Corporation

8 Crosby Drive, M/S 8-1

Bedford, MA 01730

<a href="tel:%28781%29%20430-3315" value="+17814303315" target="_blank">(781) 430-3315

[hidden email]

 


------------------------------------------------------------------------------
Dive into the World of Parallel Programming The Go Parallel Website, sponsored
by Intel and developed in partnership with Slashdot Media, is your hub for all
things parallel software development, from weekly thought leadership blogs to
news, videos, case studies, tutorials and more. Take a look and join the
conversation now. http://goparallel.sourceforge.net/
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users



------------------------------------------------------------------------------
Dive into the World of Parallel Programming The Go Parallel Website, sponsored
by Intel and developed in partnership with Slashdot Media, is your hub for all
things parallel software development, from weekly thought leadership blogs to
news, videos, case studies, tutorials and more. Take a look and join the
conversation now. http://goparallel.sourceforge.net/
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
Loading...