I’m trying to use RidgebackFranka robot (
RidgebackFranka/ridgeback_franka.usd) for mobile manipulation task where I need to know the position and velocity of the robot. I use
set_joint_velocity_targets to move the robot. It sets the target velocities for “dummy” prismatic joints that the RidgebackFranka is currently using. However when I try to get the world (or local) pose of the robot using
get_world_poses I see that the poses remain unchanged even though I see that the robot has moved in the viewport and the dof positions that I can see from
get_joint_positions have also changed.
Is there a better way to control the RidgebackFranka robot in such way that I can get the pose with
get_world_poses? Or is there a way to setup the “dummy” prismatic joints so that they change the pose of the robot?
EDIT: Also, is there a way to set the RidgebackFranka robot to move in it’s local x-axis after rotation? Currently I need to calculate what the local x-axis movement would be in world coordinates. Eg. If I rotate the robot with the prismatic z-axis joint and then want to move forward, I need to calculate what that movement is in world x and y axes because now the world x-axis and local x-axis are not the same anymore.