yifanzhu95

yifanzhu95 ·

When solving for IK, you can set the joints you want to solve for by setting the parameter activeDofs in ik.solve(). The joints that are not in the list of activeDofs will be frozen.

I am now able to load and save a trajectory with no issues but the same error is still present when I close the UI with Ok/Cancel. However, no error shown when I close the UI using the close box.

Thanks for the detailed reply, and I have one follow-up question. It seems like that the B matrix should be the one from the robot with only active joints, since the B matrices do differ when there are fixed joints. I just want to confirm this.

Yes. It is working on URDFs with joints now. Thanks for the help. Also, for other users, it seems like that if you pip installed Klamp't, you won't be able to load robot geometries in .stl format.

Best,
Yifan Zhu

Here is the code:

<?xml version="1.0"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For m...

Problem resolved: I posted the questions initially because the bounding boxes displayed in the RobotTest app are not aligned with some of the links' axes. After taking a closer look at the issue, I realized that the validity of collision detection is not...