rotation from reference frame needed

[talhaaliarslan]

Currently the reference frame is that of a chosen link which causes inconsistency between reference frames for different scenarios.

[naveenoid]

fixed in https://github.com/robotology-playground/mex-wholebodymodel/commit/2572fcb7937dd4bc6efc2ea0108f9f3def529ac3 by added a new component 'set-world-frame'. It can be used by wholeBodyModel('set-world-frame',"< base-frame-linkname >", double R[9], double p[3]); where the R and p are used to specify base link position with desired world frame. @jeljaik @barrelback would appreciate some help testing this latest feature.

[talhaaliarslan]

I tried as in the test_changeRefFrame.m file committed in https://github.com/robotology-playground/mex-wholebodymodel/commit/92c111b3d69aed463601c506e6648244efafe98a , I tried setting the base link rotation before and after 'model-initialise', with rotation about different axes. I observed no change, is this usage correct? @naveenoid

[naveenoid]

Ah found the bug! This was stupid programming. My Bad! Fixing it asap.

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Naveen Kuppuswamy, PhD Post-doctoral Fellow, Cognitive Humanoids Lab, Department of Robotics, Brain and Cognitive Sciences (RBCS), Istituto Italiano di Tecnologia, Genova, Italy

On Mon, Nov 10, 2014 at 11:40 AM, Talha Arslan notifications@github.com wrote:

I tried as in the test_changeRefFrame.m file committed in 2572fcb https://github.com/robotology-playground/mex-wholebodymodel/commit/2572fcb7937dd4bc6efc2ea0108f9f3def529ac3 , I tried setting the base link rotation before and after 'model-initialise', with rotation about different axes. I observed no change, is this usage correct? @naveenoid https://github.com/naveenoid

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/mex-wholebodymodel/issues/7#issuecomment-62367459 .

[naveenoid]

Solved! Please pull latest commit : https://github.com/robotology-playground/mex-wholebodymodel/commit/5c0edee006cb2bc16fae1900175cf8ce8e48f9b8 and check. I also updated the test_changeRefFrame.m that you wrote. @jeljaik @barrelback

[talhaaliarslan]

base frame change works i guess, but I could not get the result I expected from rotation. We need basically [ 0 0 1; 0 -1 0; 1 0 0] , but it seems to change the CoM from [0.4604;0.0681;0.0099] to [0.6180; 0.0681; 0.1675] @naveenoid

[naveenoid]

To be addressed again after the bugs introduced by new_wbi_ID branch are fixed.

[naveenoid]

Latest new_wbi_ID branch commit fixes this