Hands don't follow the specified orientation in the tf frame

pal-robotics / reem_teleop

Motion retargeting packages for teleoperating REEM.

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Hands don't follow the specified orientation in the tf frame #1

Open hilario opened 12 years ago

hilario commented 12 years ago

Do to the fact that the openni tracker doesn't output the right orientation, the design choice of ignoring the orientation was made, extending the elbow orientation to the hand. But if the user wants a specific orientation for the hands they will be ignored do to this, something that must be fixed giving the option to follow the specified orientation or to keep the current implementation

adolfo-rt commented 12 years ago

Worded otherwise, it would be desirable if we could specify a robot's wrist pose by saying:

Follow the position of the skeleton's wrist.
Follow the orientation of the skeleton's elbow. Without having to hardcode this explicitly. Is this not possible at this moment?.

bit-pirate commented 12 years ago

Questions upon questions! :-) Well, it is not possible at the moment to switch between the both by just changing one line. The used and produced transformations are often based on another. Hence, I need to find the right point/line, where this switch can be done easily. I will have a look at this soon, but first we need to get a small demo done here! :-)