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morse-simulator / morse

The Modular OpenRobots Simulation Engine
http://morse-simulator.github.io/
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[Q&A] Incorrect attachment of gripper in KLWR arm #759

Open dgerod opened 7 years ago

dgerod commented 7 years ago

Hi all,

I am attaching a gripper to a KLWR arm that it is placed on a Jido platform.

And it seems that when I rotate the arm to adapt to the platform there is a problem placing the gripper, when I only translate the gripper is placed correctly.

Gripper correctly attached to arm: gripper_correctly_attached_2 gripper_correctly_attached_1

And gripper incorrectly attached to arm: gripper_incorrectly_attached_2 gripper_incorrectly_attached_1

In fact you could see from below pictures that when I open the scene "morse edit" that the KLWR arm is not straight when rotations are used to place arm. This behavior is also seen when I execute "morse run", after starting it move to straight position automatically.

Do you know which is the problem? Thanks.

dgerod commented 7 years ago

I have tried the code in gripperTest but adding a rotation to the KLWR arm, and there is same problem as explained before.

I think that it is a MORSE issue. Do you have any idea where it could be the problem and how to patch it? I need to run this simulation to be able to work in my system.