haosulab
Support for other robots like UR5e
Hi, I'm wondering whether this library can support other robots like ur5e, I have tried importing URDF and SRDF files with UR5e, but the calculating result seems wierd.
can you provide more detail please? weird in what way?
OK, I will post the exact data. The start qpos is [0.0, -1.54, -1.57, -1, 1.57, 0.0], and the corresponding joint names are ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]. Prev ee pose at base is [ 0.621 -0.133 0.403 0.210 0.6744 0.6756 -0.210] Then I want to control the end effector to move 0.01m by y axis, thus the target pose is [ 0.621 -0.123 0.403 0.210 0.674 0.675 -0.210]. Finally the calculating result is [-0.138, -0.240, -1.050, -0.375, 4.115, 2.972} which does not make the robot move as I want. And I have seen that you change the kinematics lib to fast_kinematics in ManiSkill 3.0. So I'm wondering if this mplib is only suitable for Franka Panda.
I have also tried the path planning method like plan_screw, which seems correct. But the IK cannot work normally
Alright, I guess I have found the key problem. It's the difference of cartisian coordinates system between mplib and my simulator (which is not ManiSkill). And after I have kept them consistent, the results seem correct. Thanks for your reply!
