How to acquire the End-Effector（eef） pose?

[oym1994]

Hi, thanks for your great job!

How can we acquire the eef pose and control the eef pose instead of only the joints states?

Thanks for your attention and hope for your kind response!

[www-Ye]

I'm trying to use the end-effector pose (SE3) as the action space, and then solve for joint angles using IK, but I've noticed that due to the robot arm's degree of freedom limitations, many poses have no IK solution. This causes the trained model to easily generate unsolvable poses, resulting in the robot arm getting stuck and not moving. Does anyone have a better solution for this issue?

[mohitydv09]

Which robot are you using?

[oym1994]

Which robot are you using?

SO100

[oym1994]

I'm trying to use the end-effector pose (SE3) as the action space, and then solve for joint angles using IK, but I've noticed that due to the robot arm's degree of freedom limitations, many poses have no IK solution. This causes the trained model to easily generate unsolvable poses, resulting in the robot arm getting stuck and not moving. Does anyone have a better solution for this issue?

hello, which ik package do you use?

[Buzz-Beater]

Hi, any recommendation on which IK solver to be used on the SO-100 arm? I'm trying the same thing to use end-effector position as the action space

[github-actions[bot]]

This issue has been automatically marked as stale because it has not had recent activity (6 months). It will be closed if no further activity occurs. Thank you for your contributions.

[github-actions[bot]]

This issue was closed because it has been stalled for 14 days with no activity. Feel free to reopen if is still relevant, or to ping a collaborator if you have any questions.