Get surface position relitive to the origin.

asked 2020-03-31 01:30:43 -0500

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Hey guys,

I am currently using the vacuum gripper but I noticed that it links to the origin instead of the surface. I understand that is how the author designed the plugin so I am just trying to figure out the necessary changes so that it works for my particular case.


And the crucial thing for this plugin is the distance between the object link and gripper one (currently the

I tried combining the collision detection with the vacuum gripper but that caused me a lot of issues since I am not a c++ expert. My question:

Is there any way I can get or calculate the distance from the origin to the surface of the object using a model plugin?

The reason I mentioned a model plugin is that the vacuum gripper is in it self a model plugin, so I am limited to the API of the model plugin.

If any one could point me to the right direction it would be highly appreciated.

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