How to assign the base position of the robot? #356
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linhy97
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from helper import add_robot_to_scene |
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cuRobo represents everything with respect to the robot base frame. So you would have to convert from any additional offset from world to robot base frame external to the motion planning and other APIs. We provide a frame transformation helper here: https://curobo.org/_api/curobo.types.math.html#curobo.types.math.Pose |
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Hi, when i use
MotionGenConfig.load_from_robot_config()
to load a robot (e.g. ur10) from a yml file, it seems no parameters to assign the location.Thus, i have some confuse:
(1) is the default position is to place the center point of robot's base_link as coordinate origin [0,0,0]
(2) If i want to change the position of robot, is there any method to set parameters?
Hope for your answer~
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