What does RootNode refer to in MotionTarget.getSimWorldToRootNode()

Forum Forums Visual Components 4.0 Python Programming in VC What does RootNode refer to in MotionTarget.getSimWorldToRootNode()

This topic contains 1 reply, has 2 voices, and was last updated by Jay Jay 3 months, 2 weeks ago.

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  • #12277
    Johnny
    Johnny
    Participant

    Hello everyone

    I have a linear axis robot and would like to calculate the flange’s reference position (position where all joints have a value of zero).

    For that I make use of the MotionTarget class, since it has some useful functions to calculate certain positions.

    I tried it this way:

    But when I do so, the position in “flangePos” is not correct.

    By further investigating this, I realized that the method “getSimWorldToRootNode()” always gives me the same position even when I move the component’s origin.

    So my question is what exactly does “RootNode” refer to in this method?

    Thanks for any help!

    #12447
    Jay
    Jay
    Moderator

    This is the description of getSimWorldToRootNode() on the help document: Returns the offset from 3D world origin to root node. Tested and it seems to do the work. See image below.

    #12450
    Johnny
    Johnny
    Participant

    Hi Jay

     

    Thanks for your answer!

    I know right? It should actually return the position of the component in world coordinate system but it doesn’t in my simulation.

    As I mentioned I think this happens because I moved the component’s origin.

    Because when I move the origin the rootPos stays the same, it only changes when I move the component as a whole (including geometry).

    Is this maybe a bug or do I get something wrong?

    What happens on your side when you move the robots origin?

     

    I appreciate your support!

    Johnny

     

    PS: The version I use is Visual Components 4.1 Professional

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