Yuan

blackjack1815 ·

I did look into this more carefully, and it does look like there will be problems keeping the constraint using the embedded + closed loop constraints because of various reasons (the configuration sampler in the ambient space allows the other joints to ...

Thank you for your solution.
We fixed the problem after we change the code to:

print "Start fails", space.cspace.feasibilityFailures(space.project(qstart))
    print "Goal fails", space.cspace.feasibilityFailures(space.project(qgoal))

and

plann...

Hi Yuan, we figured this out in person. Specifically the ik.fixed_rotation function uses the robots current configuration, which changes after you’ve solved for the goal configuration. Can you post the solution?

Sure. Firstly, the constraint:

obj2 = ik.fixed_rotation_objective(robot.link(6), world_axis=[0, 1, 0])

is not necessary, we only add constraints:

obj1 = ik.fixed_rotation_objective(robot.link(6), world_axis=[1, 0, 0])

Constraint obj1 alre...

Sure. Firstly, the constraint:

obj2 = ik.fixed_rotation_objective(robot.link(6), world_axis=[0, 1, 0])

is not necessary, we only add constraints:

obj1 = ik.fixed_rotation_objective(robot.link(6), world_axis=[1, 0, 0])

Constraint obj1 alre...

Hi Yuan, we figured this out in person. Specifically the ik.fixed_rotation function uses the robots current configuration, which changes after you’ve solved for the goal configuration. Can you post the solution?

Klamp't version: 0.8.1
Operating System: Ubuntu 16.04 LTS

Problem Description:Hello Dr.Hauser. During the motion planning of the UR5e with Reflex Takktile Robotic Hand, we do not want the figures of the Reflex Robotics hand to move. Therefore, ...

Klamp't version: 0.8.1
Operating System: Ubuntu 16.04 LTS
IDE: PyCharm 2018.3.5

Problem Description:Hello Dr.Hauser. We want to let the UR5e with Reflex Takktile Robotic Hand grasp a cylindrical cup. Firstly, we use the inverse kinematics solver to ...