I have found when attempting to move a prismatic joint on the viewer via TesseractViewer.update_joint_positions() or TesseractViewer.update_trajectory() the viewer will not move that joint. It will also will not move any revolute joints while told to move a prismatic joint.
I have noticed in the developer tools console I am getting the following error
Error: Unknown joint type
at app.js:273:27
at Array.forEach ()
at TesseractViewer.trajectoryToAnimation (app.js:239:21)
at TesseractViewer.setTrajectory (app.js:228:25)
at TesseractViewer.updateTrajectory (app.js:200:18)
After looking at the app.js I see in the trajectoryToAnimation function that it checks for joint type 2 for prismatic joints. However, when looking at the screen graph, as well as the .gltf file, I can see that the prismatic's joint type is 3.
Changing the switch statement in app.js to check for joint type 3 instead of 2 seems to resolve the issue.
I'm guessing this is a bug and have posted it here so you guys are aware.
johnwason
commented
1 year ago
Hello,
I have found when attempting to move a prismatic joint on the viewer via TesseractViewer.update_joint_positions() or TesseractViewer.update_trajectory() the viewer will not move that joint. It will also will not move any revolute joints while told to move a prismatic joint.
I have noticed in the developer tools console I am getting the following error
After looking at the app.js I see in the trajectoryToAnimation function that it checks for joint type 2 for prismatic joints. However, when looking at the screen graph, as well as the .gltf file, I can see that the prismatic's joint type is 3.
Changing the switch statement in app.js to check for joint type 3 instead of 2 seems to resolve the issue.
I'm guessing this is a bug and have posted it here so you guys are aware.