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rerun-io / python-example-droid-dataset

Visualizing the DROID dataset using Rerun
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different URDF initial position #6

Closed HM102 closed 3 weeks ago

HM102 commented 3 weeks ago

Hello,

I have data in RLDS format as well, I can visualize everything and code works. However, visualizing the robot URDF is incorrect. I think you are transforming based on initial joint position of driod franka robot, since I have different joint initial position, the transformation is incorrect.

How can I modify the panda.urdf to match my initial position?

02alexander commented 3 weeks ago

You could set different start transformation by modifying the rpy property in every <origin> element for each joint, for example 

<joint name="panda_joint2" type="revolute">
    <!-- <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/> Unmodified origin -->
    <origin rpy="-1.5707963267948966 0.8 0" xyz="0 0 0"/> <!-- Changes start angle by 0.8 radians -->

But I think it can get a bit tricky to figure out which axis to orient so I created a branch where you can set the offsets via a command line argument like this:

src/rlds.py --data data/1.0.0/ --joint-offsets "1.5, 0.0, 0, 0, 0, 0"

Please tell me this solves your issue.

HM102 commented 3 weeks ago

Yes works. thank you.