Padiolleau Guillaume Posted September 1, 2020 Share Posted September 1, 2020 Hello, I'm working on Sawyer arm in simulation & with real one in SDK mode, and have Intera 5.3. I added new tools we developed in robot description URDF file. When I launch a simulation through Gazebo, I can see the tool I selected. This part is ok. But, I have 2 problems in Gazebo simulation: - First, when no command is sent to the robot in simulation, the arm constantly moves. It seems that the gravity compensation cannot compute right commands to get the arm not moving. I may have missed something in my URDF files. (I set inertial and mass part) - Second, using the Limb class IK_request function seems not working with new endpoint tool. If I try running an IK request without modifying the end_point arg (default is "right_hand") it says it cannot find a kinematic chain between base and this endpoint. Which normal, since it is not my endpoint tool link name in URDF file. But if is set it to the right link name (say "ttt_tool" as defined in my URDF file) then the IK solver can never find a solution whatever is the given position/orientation point requested. I must have missed somthing in configuration ? I also have another question: Since in Gazebo simulation we have to specify the endpoint in Limb()._ik_request function which refers to the link name in urdf file, do we have anything to specify for real world robot when changing the endpoint tool ? Thank you for reading and for future help. (I recreated the topic because I cannot edit the first one with no reason since I had a Gateway Time-out when editing it first time, the forum crashed down) Guillaume Padiolleau, PhD student Quote Link to comment Share on other sites More sharing options...
Join the conversation
You can post now and register later. If you have an account, sign in now to post with your account.