Error with ry, rx
Issue #62
resolved
robot disappears when we use rx or ry. rz px py pz are working
specs are attached, run with ./scl_gc_ctrl ../../specs/EmelArm/EmelArmCfg.xml EmelArmBot
Thank you!!
Comments (9)
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repo owner
@ Gerald : Your robot's inertias are invalid. Hence it doesn't work.
@ Kenji : The joints work. Try gc with the Pend6 bot...
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repo owner
- changed status to resolved
Not reproducible.
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repo owner
- changed status to open
Also Pr2 has rx, ry and rz joints.. It works.
Reassigning to Kenji. Please look into the root cause and close.
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repo owner
- marked as minor
- marked as task
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assigned issue to
Kenji Hata
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I figured it out! Most likely you have a mass-properties problem. Make sure your inertias are in the correct direction, your COM is correct, etc.
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To elaborate on above, make sure they are correct in the XML file.
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Oh, that's what Samir said above haha.
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- changed status to resolved
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Currently, SCL assigns RX and RY as RZ joints. This is because of how the if-elseif-else is structured. It checks for px,py,pz,rx,ry,sp, and defaults to rz if not any of the other types. There is something wrong with the recognition of the rx and ry.