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Published 20 hours ago • verified publisher icon tesseract-robotics

Mimic joints result in "The complete state of the robot is not yet known" errors from environment monitor

Open mpowelson opened this issue 4 years ago • 6 comments

mpowelson avatar Jan 21 '21 15:01 mpowelson

Ah, the mimic joints have not been implemented.

Levi-Armstrong avatar Feb 15 '21 06:02 Levi-Armstrong

@Levi-Armstrong Would you mind commenting on what you think would be involved to fix this? Would this be a good first issue (e.g. for World ROS-I day 2021)?

mpowelson avatar Feb 18 '21 15:02 mpowelson

I was thinking about leveraging this library to create a simple joint which wraps this. I think we would just copy in the .h and .c into tesseract_urdf.

Levi-Armstrong avatar Feb 20 '21 04:02 Levi-Armstrong

Another option is ExprTx and we could just copy the .hpp file.

Levi-Armstrong avatar Feb 20 '21 04:02 Levi-Armstrong

Currently also running into this issue. Would be willing to contribute here if I can help.

I did find a lot of references to mimic joints in the code already, but I am not completely sure what changes are still needed. From what I observed:

  • isPassiveOrMimicDOF() will need to be completed in order to prevent the warning
  • The mimic joint needs to be changed to not be returned as a "active" joint, e.g. via tesseract_environment::Environment::getActiveJointNames()
  • I assume the value for the mimic joint needs to be calculated and written to the environement somewhere in the environment monitor.

dave992 avatar Jul 16 '24 12:07 dave992

I will need to spend some time looking into how best to support mimic joints

Levi-Armstrong avatar Jul 17 '24 18:07 Levi-Armstrong