It seems that the DLSSolver does not give a correct solution on my setup.
I changed the flange length in the direct kinematics and made sure in my KST class the dh parameters are matching to the flange. I also tried both kukaDLSSolver and kukaDLSSolver_1. The robot was able to move to the given joints, but the EEF position does not match the input of the DLSSolver (almost always with ~30mm offset). Because the DLSSolver is masked by .p file, i couldn't really debug this. Any idea where I should look into?
An update: If I set the flange to be "KST.None", the DLSSolver can give a correct answer. It seems to me that the DLSSolver is solving for a basic flange by default, which probably should not be the case, since we were given an option in the KST constructor.
Thanks for the code. Very good work.
It seems that the DLSSolver does not give a correct solution on my setup.
I changed the flange length in the direct kinematics and made sure in my KST class the dh parameters are matching to the flange. I also tried both kukaDLSSolver and kukaDLSSolver_1. The robot was able to move to the given joints, but the EEF position does not match the input of the DLSSolver (almost always with ~30mm offset). Because the DLSSolver is masked by .p file, i couldn't really debug this. Any idea where I should look into?
An update: If I set the flange to be "KST.None", the DLSSolver can give a correct answer. It seems to me that the DLSSolver is solving for a basic flange by default, which probably should not be the case, since we were given an option in the KST constructor.
Thank you again for the great codes.