How to get arm_links_info in real world experiment?

[FinnJob]

One more question, how to get arm_links_info in real world experiment ?

[cshizhe]

The poses are obtained from robot's proprioceptive state. The boxes of the links are pre-defined for the robot arm as they are rigid body and won't change.

[FinnJob]

@cshizhe Thanks! Suppose I have a UR5, what should I do in order to get this data? Looking forward to your reply！

[rjgpinel]

Hi @FinnJob,

The 3D bounding boxes are pre-defined. To compute the values, we loaded the 3D CAD model of each UR5 link and for each one we computed a bounding box covering the entire link mesh (check: https://trimesh.org/trimesh.bounds.html).

For the proprioceptive information, we are using ROS and MoveIt to control the robot. Then, in ROS, you would have defined your robot structure through a URDF (ours for reference: https://github.com/inria-paris-robotics-lab/prl_ur5_robot/tree/master/prl_ur5_description), and you can use ROS transforms (http://wiki.ros.org/tf2_ros) to compute the pose of each link at each keystep (transform from the world frame to each robot link).

I hope with this information is more clear.