Open PARKBONG opened 6 months ago
@PARKBONG were you able to resolve this issue? I am facing the same problem
Have you been able to visualize the iterations? or tested changing any of the parameters? That might help us figure out what's going on.
I am facing the same problem
I was having this problem with the Franka when I was using a URDF that resulted in 9 actuated joints (7 DOF + gripper). Using a URDF with only 7 actuated joints solved the problem
Here's an example script based on the unit tests: https://gist.github.com/williamshen-nz/abb8bd1aaf91499741aaacb3a87f22dd
URDF I used: https://github.com/NVlabs/curobo/blob/main/src/curobo/content/assets/robot/franka_description/franka_panda.urdf
Hi sorry for the long delay. I believe this was an issue where you build a serial chain from a non-linear chain (panda + gripper and hands) and specify the end effector. The problem was the end effector frame would still have its children linking to the non-linear part of the chain later. This would explain why @williamshen-nz using a URDF with only 7 actuated joints worked while the one with 9 didn't. Commit baa6ced4d837e09e51f18dd3c93f41fe7b75f20f should've solved this.
@PARKBONG @akashsharma02 @zhengkai666666 can you try again with 0.7.3? If it persists I can look more into it
Hi. I tried to test this repo with Franka Panda.
here is my code. torch_kin_test.py
Why does it fail to solve it? Any advice will be very helpful for me. Thanks!