Mobile robot base

[kvsym]

Hello,

We are trying to move the base of a robot (wx200 for example), and having troubles of reaching the goal axes for end-effector axes. The program does not stop when end-effector reaches goal axes. The method we used for moving a base was robot.base = robot.base * sm.SE3.Trans(0.0,0.001,0). Are there any suggestions for improvement?

[petercorke]

Hi @kvsym, thank you for your interest in RTB, and apologies for the very long delay in replying. Various life events got in the way, and since May this year I've been doing a lot of work across RTB, Swift and SpatialGeometry.

It's hard to tell from the description what is going wrong, since I can't see which program or loop you're running. Could you please post an Issue rather than a discussion thread, with:

1. a minimal, runnable script that reproduces the problem,
2. what you expect to happen,
3. what actually happens (the output, or a description of the behavior),
4. your RTB version.

It would also help to know whether you are trying to put the arm on a moving base for its own sake, or whether you want the base motion to be an extra, controlled degree of freedom (for example, mounting the arm on a rail). The wx200 has only five arm joints, so a goal with an arbitrary position and orientation may not be reachable without such an extra joint.

Thanks for the question.