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ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
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Open Manipulator fails to plan in the task space but works in the joint space #237

Open proboticks opened 1 year ago

proboticks commented 1 year ago

I am using the open_manipulator controller and the steps below were performed using the GUI tool.

Steps to reduce:

  1. The actuators are disabled, and the arm is manually moved to a pose $\mathbf{x}$ that is within the joint limits specified here.
  2. The joint space angles $J{\mathbf{x}}$ and task space position $T{\mathbf{x}}$ are recorded.
  3. The actuators are enabled and the arm is instructed to move to the HOME pose.
  4. Now, the arm is tasked to plan to the pose $T_{\mathbf{x}}$ (i.e. $\mathbf{x}$ in the task space) and the planning fails. 
      [ERROR] [OpenManipulator Chain Custom]fail to solve inverse kinematics
  [ERROR] [TASK_TRAJECTORY] Fail to solve IK
  5. Sending the pose $J_{\mathbf{x}}$ (i.e $\mathbf{x}$ in the joint space) to the arm works!

I tested this for many poses. This seems like a IK issue and unfortunately I am not well versed in that space. This essentially reduces the true workspace of the arm considerably!

Any help is much appreciated!