Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.




Proposed Feature: Object Alignment (
:alignA:toB method)This PR introduces a new method to the
CASCADED-COORDSclass to simplify the essential operation of aligning an object based on an internal reference point to a target world coordinate.Goal and Use Case
The current
:move-tomethod can only move an object based on its representative coordinate system (i.e. the object's single representative frame).Use Case: The
:move-tocommand is inadequate when you need to align a specific feature (e.g. base of a kettle) to a target frame (e.g. or a table surface).For me, I would like to align needle's specific coordinate to a target coordinate.

↓Move the needle and align the two coordinates
The specific goal of this feature is: To move the entire moving object ($\mathbf{C}_{\text{internal}}$ ) precisely match the target coordinates ($\mathbf{C}_{\text{target}}$ ) in the world frame.
*tool-body*) so that its internal reference coordinates (Usage