Two robotic arms used at the same time, collision cylinders can not be aligned

uwgraphics / relaxed_ik

RelaxedIK Solver

MIT License

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Two robotic arms used at the same time, collision cylinders can not be aligned #31

Open SimonQi1 opened 2 years ago

SimonQi1 commented 2 years ago

When using jaco7_and_ur5.urdf, after running rosrun relaxed_ik urdf_viewer_with_collision_info.py, the positions of the two robotic arms generating the columns overlap, but I don't want that 2021-12-27 16-10-12屏幕截图

Is there something wrong with the settings of my start_here.py file

2021-12-27 16-12-45屏幕截图

or other possible problems.

I sincerely hope that I can get your help，Thank you

LuciAnge commented 2 years ago

Hi, I used RelaxedIK with two UR5 robots. I had the same problem: the algorithm assumes that both robots start with the base frame coincident with the common_world frame. In order to solve it I added a fixed frame in the joint_names list. I hope this informotion can help you to solve your problem. Best regards