Forward Kinematics of UR5e

[karthyyy]

Hi,

I am simulating UR5e model from the repo. I could implement the Forward and Inverse Kinematics of the manipulator correctly as per the MuJoCo model and its reference frames. However, when trying to correlate the transformation matrix from the MuJoCo (formulated from the xmat and xpos values), with that generated from the D-H parameters as given in the following link, I am not getting identical results. The translation values are same but with the axis changed, whereas the rotation matrix cannot be correlated.

https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/

It was found that the world frame and base frame are having a rotation. So, I included correction for the same but still I couldn't get identical transformation matrix from MuJoCo and that from the excel sheet in the UR site. (https://s3-eu-west-1.amazonaws.com/ur-support-site/45257/DH-Transformation.xlsx).

Can someone help me with the same ?

Regards Karthik