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tesseract-robotics / tesseract_python

This contains python wrappers for both Tesseract and Tesseract Planning packages
https://tesseract-robotics.github.io/tesseract_python/
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Saved scenes cannot be updated after updating joint variables #72

Open lanmo0923 opened 8 months ago

lanmo0923 commented 8 months ago 
viewer.update_joint_positions()
viewer.save_scene_gltf()

After using the first line of code to update the joint variables, the viewer display has changed. Using the second line of code to save the scene, the scene obtained is always the initial scene, how to save the updated scene?

johnwason commented 8 months ago

The viewer works by generating a glTF2 file that is loaded into the viewer, and then manipulating the transforms to move to joint positions and animate the trajectories. The gtTF file itself contains the scene with all the joints set to zero. There may be an animation in the glTF file that contains the current joint position or trajectory but that is not guaranteed.