Hi, I'm trying to adapt my robot that utilizes position actuators to the RGB_stacking environment. I implemented the python class for the robot based on the sawyer robot implementation, but it keeps failing with the following error:
WARNING:absl:Unable to solve the inverse kinematics for ref_pose: Pose(position=[0.54648661 0.12579726 0.4226723 ], quaternion=[ 6.03993497e-17 9.86396237e-01 -1.64385105e-01 1.00656846e-17])
Hi, I'm trying to adapt my robot that utilizes position actuators to the RGB_stacking environment. I implemented the python class for the robot based on the sawyer robot implementation, but it keeps failing with the following error:
WARNING:absl:Unable to solve the inverse kinematics for ref_pose: Pose(position=[0.54648661 0.12579726 0.4226723 ], quaternion=[ 6.03993497e-17 9.86396237e-01 -1.64385105e-01 1.00656846e-17])
The following is how I set the joint angles:
Can anyone help me locate the problem? Thank you very much!