Where can I visualize the maximum XYZ position coordinates for an IRB120 robot arm in moveit?

asked 2020-04-23 04:58:44 -0500

whitecatshiro
11 ●11 ●12 ●14

I'm trying to understand the XYZ coordinates for cartesian planning for an IRB120 robotic arm in moveit!

I've looked through the move_group_python_interface.py script and read through the cartesian planning function and I want to be able to visualise in space the XYZ labelled axes to specifically know where to plan my cartesian path. Is this possible?

So far I've just put in random numbers to understand which way is the positive X and Y directions but I want to be able to pinpoint specific coordinates for planning.

answered 2020-04-23 05:34:05 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2020-04-23 05:52:08 -0500

Afaik there is no functionality in MoveIt to visualise the work envelop of a particular robot.

What you could do however, is the following:

drag the robot's TCP around with the interactive marker
use the TF Display to look at the Cartesian pose of the link of interest

There may be RViz plugins which can render the current pose of a TF frame as text floating above it, I haven't looked for any.

I want to be able to visualise in space the XYZ labelled axes

That is possible: add an Axes display to your RViz configuration. That will add a large axis indicator to the scene. See wiki/rviz/DisplayTypes/Axes.

It will not have any scale attached, but if you also have a Grid active, you can configure it to draw the grid at arbitrary steps (with SI units), so these two together should help.