Closed
Description
Check here first
Describe the bug
When creating a DH robot model with a tool transformation like e.g. the Panda robot, the tool transformation is not considered in the print command or the plot command.
Version information
Installed version 1.0.3 using PyPi
To Reproduce
import roboticstoolbox as rtb
panda = rtb.models.DH.Panda()
print(panda)
panda.plot(panda.qr)
Expected behavior
┌─────┬──────┐
│tool │ The transformation... │
└─────┴──────┘
The plot shows the actual TCP coordinate system
Screenshots
DHRobot: Panda (by Franka Emika), 7 joints (RRRRRRR), dynamics, geometry, modified DH parameters
┌────────┬────────┬─────┬───────┬─────────┬────────┐
│ aⱼ₋₁ │ ⍺ⱼ₋₁ │ θⱼ │ dⱼ │ q⁻ │ q⁺ │
├────────┼────────┼─────┼───────┼─────────┼────────┤
│ 0.0 │ 0.0° │ q1 │ 0.333 │ -166.0° │ 166.0° │
│ 0.0 │ -90.0° │ q2 │ 0.0 │ -101.0° │ 101.0° │
│ 0.0 │ 90.0° │ q3 │ 0.316 │ -166.0° │ 166.0° │
│ 0.0825 │ 90.0° │ q4 │ 0.0 │ -176.0° │ -4.0° │
│-0.0825 │ -90.0° │ q5 │ 0.384 │ -166.0° │ 166.0° │
│ 0.0 │ 90.0° │ q6 │ 0.0 │ -1.0° │ 215.0° │
│ 0.088 │ 90.0° │ q7 │ 0.107 │ -166.0° │ 166.0° │
└────────┴────────┴─────┴───────┴─────────┴────────┘
┌─────┬──────┐
│tool │ None │
└─────┴──────┘
┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐
│name │ q0 │ q1 │ q2 │ q3 │ q4 │ q5 │ q6 │
├─────┼─────┼────────┼─────┼───────┼─────┼───────┼──────┤
│ qr │ 0° │ -17.2° │ 0° │ -126° │ 0° │ 115° │ 45° │
│ qz │ 0° │ 0° │ 0° │ 0° │ 0° │ 0° │ 0° │
└─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘
The TCP is at the last joint coordinate system instead.
Environment (please complete the following information):
- Your OS: Linux
- Your Python version: 3.8