Agent-arm Teleport v1.0 #1070
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Agent-arm Teleport v1.0 #1070
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Added command that teleports agent-arm to desired position, rotation, armHeight, and elbowOrientation.
Both IK-Arm and Stretch-Arm are supported.
Input format for IK Arm (example values are defaults when no input is given beyond "action": "TeleportArm"):
{
"action": "TeleportArm",
"position": {"x": 0.0, "y": 0.0, "z": 0.4},
// rotation input is axis-angle notation, with "w" as wrist-angle (in degrees) around axis defined by (x, y, z)
"rotation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 0.0},
"armHeight": {-0.003},
// elbowOrientation input is orientation of elbow (in degrees) around straight line between agent's shoulder and wrist
"elbowOrientation": {0},
"worldRelative": false,
"forceAction": false
}
Input for FK Arm (example values are defaults when no input is given beyond "action": "TeleportArm"):
{
"action": "TeleportArm",
"position": {"x": 0.0, "y": 0.0, "z": 0.1},
// rotation input is single angle (in degrees) of wrist around up-axis, since that is the Stretch-Robot's wrist's only axis of rotational freedom
"rotation": {-180},
"worldRelative": false,
"forceAction": false
}