Hi,
I have recently started using Mechanical Advantage’s “AdvantageScope” for robot simulations and wanted to play with the properties (rotation and zero position) of the Robot components. I changed the values of the x,y,z for position inside the Json file but for some reason I did not see any noticeable changes even though I restarted AdvantageScope, as written on the documentation of AdvantageScope.
Did anybody else come across this phenomenon?
From the docs:
When no component poses are provided by the user, the component models will be positioned using the default robot rotations and position. When component poses are provided by the user, the “zeroed” rotations and position are instead applied to bring each component to the robot origin. The user’s poses are then applied to move each component to the correct location on the robot.
The idea is that you can export the CAD model with all of the mechanisms in their “default” positions and not worry about the articulated components. To test the configuration for the components, you need to provide pose data for them. I recommend publishing an array of zeroed 3D poses, then adjusting the config to bring each component to the origin.
So you’re saying we need to publish poses in the advantage kit logger? Not in the json config file for the robot?
Right now when we change the zeroed pose and rotation config in the robot json nothing happens.
You don’t need to use AdvantageKit, but you do need to publish 3D poses in the correct double array format (as explained in the docs). If you don’t provide pose data, the zeroed pose and rotation in the JSON config is not used — this is the “default” positioning of the components.
The purpose of the “zeroed” positions and rotations is to transform the components from their default locations to the robot origin. The poses published from the robot code should specify the position and rotation of each component relative to the robot origin — if you publish an unmodified Pose3d from the robot code, the component should be at the robot origin. For testing, it’s easiest to start by publishing unmodified Pose3d data from the robot code and modify the zeroed position and rotations until the components are aligned with the robot origin. Then start publishing the real component poses from the robot code to move them to the correct articulated positions.
I see. Thank you.
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