Moving Wobj by Robtarget

Dzmitry

Hi,

I have a point P1made in wobj_1 and point P2 made in wobj0. I need to create wobj_2 that way that the coordinate P2 in wobj_2 should be the same as P1 in wobj_1.

Are there some functions like "Adjust Robtargets" that can do that?

lemster68

Can you elaborate some more please?  Is it really just one point or are you talking many points?  Is wobj_2 exactly the same as wobj_1 or different?

Dzmitry

Yes, it's just one point.

wobj_2 is not the same as wobj_1.

guillaumebatun

I have not tested this but basically this is a matrix equation.
Both poses have in common that they end up in the same pose wrt to the robot base.
So P2 in wobj2 = P1 in wobj1
PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)

PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
this is what I am unsure about, does the left side equal wobj2 now?

Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
Try it out!

Dzmitry

guillaumebatun said:

I have not tested this but basically this is a matrix equation.
Both poses have in common that they end up in the same pose wrt to the robot base.
So P2 in wobj2 = P1 in wobj1
PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)

PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
this is what I am unsure about, does the left side equal wobj2 now?

Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
Try it out!

Thanks, I'll try it

Karra

I tried this code, guillaumebatun, and it's working. Thanks a lot for the tip!

Karra

I tried this code, guillaumebatun, and it's working. Thanks a lot for the tip!

Karra

guillaumebatun said:

I have not tested this but basically this is a matrix equation.
Both poses have in common that they end up in the same pose wrt to the robot base.
So P2 in wobj2 = P1 in wobj1
PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)

PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
this is what I am unsure about, does the left side equal wobj2 now?

Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
Try it out!

Nice code, guillaumebatun! It's working for me. Thanks for the tip!!!