3D Component Poses ignore base robot model transformations.

[blaze-developer]

In our robot's model, we have to transform the robot model up for the wheels to be above the ground. However, when logging component poses, it does not respect this offset. This means we have to add an arbitrary offset to every single component pose. It would be nice to either make it respect these transformations or allow JSON configuration of these components to respect or not respect these.

[jwbonner]

Component poses are always relative to the robot origin, which is defined to be on the ground. This is the standard reference frame used for everything in AdvantageScope. When following the documented setup steps, component poses can be published using that same reference frame. I'm not sure I understand what the issue is. Are you trying to use a different reference frame for publishing components?

[blaze-developer]

This is my configuration. I am using a 0.045 meter z offset to get the wheels onto the ground.

My problem, is that the visualized component poses are relative to the floor, and not the offset robot pose, the components do not follow the robot with its transformations.

The result of this, being I have to add 0.045 to the z factor of every single component, to make them fit, like so:

Wouldnt it make sense for the components to be relative to the actual origin of the robot model, instead of the floor always?