Hi,
Thanks for providing a good simulation. I just checked the RPY control, found only Y works, RP not. So I just wonder whether it's code like this, or there is some bug?

I found it is work quite good in simulation, meanwhile, is it possible to switch robot from ur5 to ur10 or ur3

Hi, Thanks for your model!

I'm trying to combine ur5robotiq85 with a husky ugv. The robot itself works very well, but when I add the constraint, ugv will be attached to the robot base, and it seems like the position and orientation of the robot base is not changeable, and the base will not be affected by gravity.

I tried general methods like set useFixedBase = False when loading the URDF, but it does not work. What can I do with it?

Hi,

I apologize for asking a question here. But I was trying to generate a "pure" urdf file recently (to use openrave ikfast) but all I can find online is how to convert the macro file to urdf and this always gives me issues.

I would appreciate a lot if you could share some suggestions or point me to the right direction. Thank you.

Hellow,
Thanks for providing a good simulation. I got a problem when I was controlling the end-effector. In the main.py file, I added the following code to get the pose of the end-effector.

 pos = p.getLinkState(robot.id, robot.eef_id)
 start_eur = p.getEulerFromQuaternion(pos[5])
 print(start_eur)

But the returned start_eur variable is inconsistent with the input of env.read_debug_parameter().
For example

start_eur = (3.141490980302897, 0.6957960404397654, -1.57088815227758)
[roll, pitch, yaw] in env.read_debug_parameter() is [0.0, 2.446, 1.571]

This looks like there is a missing transformation matrix between the pose of the end-effector and the Orientation [R P Y].
How to make the end-effector move to the specified pose？

I would appreciate it if you could share some suggestions or point me in the right direction. Thank you.

When I shifted the target position of end-effector out of the range given in the side panel (-0.224 to 0.224 for x and y), the arm is not able to reach those points. Do you have an idea why this is happening?

Hi, thanks for your great work. I wonder agent.py has already finished? Is its function just to provide a heuristic template for us to refer to, and the specific functions still need to be completed by ourselves?

Hi. Could you please let me know how to put camera on the end effector of the Ur5 robot arm?

Hello,
Thank you for this model!
I am working on an simulation where I need to modify the force in the gripper, so in the ControlGripper method that you provide, I changed the value of the force. Specifically I change the variable desired_force in the following parts:

1. p.setJointMotorControl2(robotID, parent.id, controlMode, targetPosition=pose, force=desired_force, maxVelocity=parent.maxVelocity)

2. p.setJointMotorControl2(robotID, child.id, controlMode, targetPosition=childPose, orce=desired_force, maxVelocity=child.maxVelocity)

I have tried different force values but I have the behavior that you can see in the image, where some of the parts of the gripper are not attached when I try to grab an object. Are there some parameter in the urdf that I must change?