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[WIP] Robotics Coordinate System Migration #2523

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[WIP] Robotics Coordinate System Migration #2523

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fd62355
add a new example script with visual investigation of current coordin…
aclegg3 Dec 10, 2024
ad8a4b3
PathFinder and CoordinateFrame refactor to support robotics coordinat…
aclegg3 Dec 21, 2024
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Binary file added data/test_assets/objects/axis.glb
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67 changes: 67 additions & 0 deletions data/test_assets/urdf/axis.urdf
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Original file line number Diff line number Diff line change
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<?xml version="1.0" ?>
<robot name="axis">
<material name="grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="red">
<color rgba="0.7 0.0 0.0 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.7 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.7 1.0"/>
</material>
<link name="base_box">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="base_to_x" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_box"/>
<child link="link_x"/>
</joint>
<link name="link_x">
<visual>
<origin rpy="0 0 0" xyz="0.125 0 0"/>
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="base_to_y" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_box"/>
<child link="link_y"/>
</joint>
<link name="link_y">
<visual>
<origin rpy="0 0 0" xyz="0 0.125 0"/>
<geometry>
<box size="0.05 0.2 0.05"/>
</geometry>
<material name="green"/>
</visual>
</link>
<joint name="base_to_z" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_box"/>
<child link="link_z"/>
</joint>
<link name="link_z">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.125"/>
<geometry>
<box size="0.05 0.05 0.2"/>
</geometry>
<material name="blue"/>
</visual>
</link>

</robot>
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