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Kinovarobotics / kortex

Code examples and API documentation for KINOVA® KORTEX™ robotic arms
https://www.kinovarobotics.com/
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Inconsistency in End Effector Transformation Matrix Calculation #192

Open wxailwx opened 7 months ago

wxailwx commented 7 months ago

Description

We have discovered that the two methods for calculating the end effector transformation matrix, as provided in the user manual, yield inconsistent results in three-dimensional coordinates. Additionally, both methods produce values that differ from those displayed on the web application.

Question Regarding tool_pose_theta: Furthermore, we would like to inquire about the specific representation of the tool_pose_theta. For instance, is it in the form of Roll-Pitch-Yaw (RPY) with the xyz order? Thank you for your help!

Version

At a minimum, provide the Kortex API and Kortex-enabled device versions.

KortexAPI :2.9.0

Kortex Device :Gen3 lite

Code example

1700658459032 1700658501428

hermattt commented 6 months ago

Hi,

Table 92 has an error in "Frame 3 to frame 4" with a star, -0.0064 should be positive like in example without star. Did you also add gripper transformation matrix to get the same values as on web page? (The easiest way would be to "add" 0.12m to last matrix) image So from -0.0615 to -0.1815 Check https://github.com/Kinovarobotics/kortex/issues/101 regarding tool_pose_theta question.