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Could we get transform world->artifact_origin? #665

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peci1 opened this issue Oct 14, 2020 · 1 comment · May be fixed by #756
Open

Could we get transform world->artifact_origin? #665

peci1 opened this issue Oct 14, 2020 · 1 comment · May be fixed by #756
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enhancement New feature or request

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peci1 commented Oct 14, 2020

This transform would really be helpful in the solution containers. For example, we'd like to forbid exploration of the staging area, but its model is positioned relative to the world frame, which is inaccessible in the solution container. We can only guess that it will always be positioned at offset 10, 0, 0 from artifact_origin. Can we rely on this assumption? Or, even better, could we get the frame in the container?
@nkoenig nkoenig added the enhancement New feature or request label Oct 19, 2020
@peci1 peci1 linked a pull request Jan 19, 2021 that will close this issue
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peci1 commented Jan 19, 2021

#756 addresses this issue.

@adlarkin adlarkin linked a pull request Jan 19, 2021 that will close this issue
Publish static transforms describing the staging area in world frame. #756
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Publish static transforms describing the staging area in world frame. peci1/subt
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