Sphere placement about piper HOT 2 CLOSED

Hi, the convention used to represent the robot inside GPMP2 is different than the one used in rviz. That is why the PR2 spheres look off. If you visualize your spheres in matlab using GPMP2 function 'gpmp2/matlab/+gpmp2/plotRobotModel.m' they will appear correctly (we have also recently tried the ros toolbox in matlab that nicely visualizes the robot from a urdf, then you can work out sphere placements in there by visualizing the spheres with 'plotRobotModel' on top of it).

The sphere positions are defined relative to a joint's coordinate frame. For example, a simple two link planar arm:
b ==== 0 ==== 1
(b - base/origin, 0 - joint 0, 1 - joint 1/end effector) all spheres here are defined wrt frames 0 and 1.

from piper.

Hi thanks,

I'll try with the matlab approach as you suggested. I thought that it is different than RViz I just tried to find out what are the differences and transform the spheres accordingly but wasn't that successful. I'll report back.

Thank you again for your time! 😄

from piper.