Why is the first target forced to be an absolute joint target? #272
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kevingessner
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It was added because the position of the real robot is unknown in Grasshopper and depending on where it is, could adopt a different pose when reaching the first target, which would not match the simulation. A joint target would always adopt same pose no matter where the robot was before. |
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During program processing, the first target is changed from a cartesian target to a joint target (i.e. from a MoveL/MoveJ in rapid to a MoveAbsJ):
Robots/src/Robots/Program/CheckProgram.cs
Lines 47 to 48 in ac190db
This was added ages ago in commit e4f2944, with no comment or indication of why it's necessary.
Is it (still) necessary? It shouldn't be required by the robot or by the kinematics solver, as far as I can tell. It can cause a problem because the first target thus doesn't respect the frame/work object, and is hard to debug and change later in the code. If it's not required, could that "fix" be removed or made optional?
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