-
Notifications
You must be signed in to change notification settings - Fork 83
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
[bug] Config error of xmate3_robotiq, resulting in abnormal rotation of rx, ry, rz !!! #194
Comments
thanks for raising the issue @swearos, could you provide a reproducible code snippet to do this? |
@StoneT2000 |
@StoneT2000 I found that it is still wrong to change the ee_link_name node to robotiq_arg2f_base_link, but compared with the default panda result,, the origin of rx rotation is wrong. https://github.com/haosulab/ManiSkill2/assets/10892059/bfe539e3-472a-4f27-b0fa-605f93f95dce Compared with the gripper node in panda_v2.urdf, Whether to add child nodes to robotiq_arg2f_base_link and then add Z-axis bias,like https://github.com/haosulab/ManiSkill2/blob/d04c2dc5bfd826172b2f3193cbf232a4a33bdd9e/mani_skill2/assets/descriptions/panda_v2_gripper.urdf#L25C15-L25C29 |
sorry for the delay. You are correct you should use the convenient link, which basically is the location of the TCP for easier EE control. It seems like the xmate3 robot actually has a small bug/typo in its modelling where it changed the rotation frame. Panda gripper as you point out uses rpy="0 0 0" for the panda_tcp joint, but it is not 0 0 0 for xmate3. For a fix on your side you can edit the URDF file for the xmate3 like so Original
Changed
You can probably find this file in Because other people have potentially trained policies already with the action dimensions permuted wrong for xmate3, i will not update the URDF that is downloaded by default for now. I will update this for the next version of ManiSkill. |
https://github.com/haosulab/ManiSkill2/blob/d04c2dc5bfd826172b2f3193cbf232a4a33bdd9e/mani_skill2/agents/configs/xmate3/defaults.py#L43
self.ee_link_name = "grasp_convenient_link"
should be changed toself.ee_link_name = "robotiq_arg2f_base_link"
,I tried to rotate the end controller 90 degrees around the X-axis and noticed that the robotic arm was acting strangely,
See the video below for a comparison of the effect before and after modification (also problematic is the rotation of rz).
rotate_rx_error.mp4
rotate_rx_ok.mp4
The text was updated successfully, but these errors were encountered: