implement ModelFrame for gripper client
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ModelFrame for gripper client
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| return nil, fmt.Errorf("cannot create link config for Frame with %d DoF", len(frame.DoF())) | ||
| } | ||
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| pose, err := frame.Transform([]Input{}) |
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Is there no way to get the pose of a frame directly? Why the empty input transform?
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A frame doesn't "have" a pose, a frame is a function that knows how to turn a set of floats (inputs) into a pose.
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We could cast it to a (*staticFrame) and then access the variables directly. But this is slightly more general since there could be other types of frames of zero DoF. Idk I could go either way on it. It isn't performance critical so I think this is fine
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Personally I prefer the current implementation over a cast to a (*staticFrame)
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We're currently blocked from adding grippers into the frame system using the intended flow. This PR implements
ModelFrameso that the client returns all the geometries returned from theGeometriesendpoint in the frame of the gripper