# Custom Robot Arm not reaching target while using RMP Flow | Imprecise control of robotic arm

**URL:** <https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402>\
**Category:** Isaac Gym\
**Created:** [October 4, 2023, 9:46am UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402 "2023-10-04T09:46:11Z")\
**Posts on this page:** 13\
**Page:** 1

<div class="post-metadata">

**Author:** ![tribikram](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tribikram](https://forums.developer.nvidia.com/u/tribikram)\
**Post date:** [October 4, 2023, 9:46am UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/1 "2023-10-04T09:46:11Z")

</div>

I want to integrate a UR3 (Universal Robot) arm on a movable Clearpath Husky base to create a custom mobile manipulator and I would like to use the RMP flow algorithm of Nvidia to make the robot arm reach a target position, I had previously posted on the forum regarding the issue I am facing, however I made some changes in the python script

> [@Robot collision sphere moved from robot while using RMPflow](https://forums.developer.nvidia.com/t/robot-collision-sphere-moved-from-robot-while-using-rmpflow/266873):
>
> The robot arm is a UR3 arm. The collision sphere has moved from the robot arm after I configured the UR3 yaml file as the robot yaml file. The UR arm is fixed on the base of the robot. This is the Robot description YAML file # The robot description defines the generalized coordinates and how to map those # to the underlying URDF dofs. api\_version: 1.0 # Defines the generalized coordinates. Each generalized coordinate is assumed # to have an entry in the URDF. # Lula will only use th…

Current situation, please check out the YouTube video in the given link.  
[Issue video-Read the description of the video as well](https://www.youtube.com/watch?v=X_WJ1H36XH4)

While using controlling the robotic arm using the RMP flow the Lula is considering a different kinematic object(structure) and not the robot while generating articulation actions.

This is the running Python script for the video given above.

```auto

from omni.isaac.kit import SimulationApp

simulation_app = SimulationApp({"headless": False})

from omni.isaac.franka.tasks import FollowTarget
from omni.isaac.motion_generation.lula import RmpFlow
from omni.isaac.motion_generation import ArticulationMotionPolicy
from omni.isaac.core import World
from omni.isaac.core.objects import sphere
from omni.isaac.core.utils.extensions import get_extension_path_from_name

from robot_utils.husky_controller import HuskyController
from follow_target_husky_ur3_rmpFlow import FollowTarget
from robot_utils.ur3_rmpF_controller import RMPFlowController
from customised_task import CustomTask
import numpy as np

import os

my_world = World(stage_units_in_meters=1.0)
my_task = CustomTask(name = "task",offset=None)
my_world.add_task(my_task)
my_world.reset()
task_params = my_world.get_task("task").get_params()
robot_name = task_params["robot_name"]["value"]
target_name = task_params["target_name"]["value"]
my_robot = my_world.scene.get_object(robot_name)

# RMPflow config files for supported robots are stored in the motion_generation extension under "/motion_policy_configs"
mg_extension_path = get_extension_path_from_name("omni.isaac.motion_generation")
rmp_config_dir = os.path.join(mg_extension_path, "motion_policy_configs")

#Initialize an RmpFlow object

my_robot.ur_initialize()

rmpflow = RmpFlow(
    robot_description_path = "./husky_ur3/rmpflow/config_2.yaml",
    urdf_path = "./husky_ur3/husky_ur3.urdf",
    rmpflow_config_path = "./husky_ur3/rmpflow/husky_ur3_rmpflow_config.yaml",
    end_effector_frame_name = "ur_arm_flange",
    maximum_substep_size = 0.00334
)
#Use the ArticulationMotionPolicy wrapper object to connect rmpflow to the Franka robot articulation.
physics_dt = 1/60.
articulation_rmpflow = ArticulationMotionPolicy(my_robot,rmpflow,physics_dt)

#create and add an obstacle from omni.isaac.core.objects
# sphere_obstacle = sphere.FixedSphere("/sphere_obstacle",radius=.03,position=np.array([0.1, 0.0, 0.5]),color=np.array([0.,0.,1.]))
# rmpflow.add_obstacle(sphere_obstacle)

# rmpflow.set_ignore_state_updates(True)
# rmpflow.visualize_collision_spheres()

articulation_controller = my_robot.get_articulation_controller()

rmpflow.visualize_end_effector_position()

# rmpflow.set_ignore_state_updates(True)

# bad_proportional_gains = articulation_controller.get_gains()[0]/50
# articulation_controller.set_gains(kps = bad_proportional_gains)

while simulation_app.is_running():
    my_world.step(render=True)
    if my_world.is_playing():
        if my_world.current_time_step_index == 0:
            my_world.reset()

        observations = my_world.get_observations()

        #Set rmpflow target to be the current position of the target cube.
        y = -observations[target_name]["position"][1]
        rmpflow.set_end_effector_target(
            target_position=np.array([observations[target_name]["position"][0],y,observations[target_name]["position"][2]]),
            target_orientation=observations[target_name]["orientation"],
        )

        rmpflow_end_effector_prim = rmpflow.get_end_effector_as_prim()
        x,y = rmpflow_end_effector_prim.get_world_pose()
        
        # print(x,y)
        # print(rmpflow.get_end_effector_as_prim())
        #print(my_robot.get_end_effector)

        #Track any movements of the sphere obstacle
        rmpflow.update_world()

        #Track any movements of the robot base
        robot_base_translation,robot_base_orientation = my_robot.base_ur.get_world_pose()
        rmpflow.set_robot_base_pose(robot_base_translation,robot_base_orientation)

        actions = articulation_rmpflow.get_next_articulation_action()
        articulation_controller.apply_action(actions)

        print(my_task.target_reached())

simulation_app.close()

```

> You can check how I hard coded the cube y cordinate as -y to make the end effector move in the while loop. As you can see in the video while the actual end effector is moving towards +y direction the lula end effector is moving towards -y direction.

```
  y = -observations[target_name]["position"][1]
    rmpflow.set_end_effector_target(
        target_position=np.array([observations[target_name]["position"][0],y,observations[target_name]["position"][2]]),
        target_orientation=observations[target_name]["orientation"],
    )

```

I would be obliged if you help me out in setting up the robot and use RMP flow to reach a target object.

If you require any other code you can check the topic here

> [Robot collision sphere moved from robot while using RMPflow](https://forums.developer.nvidia.com/t/robot-collision-sphere-moved-from-robot-while-using-rmpflow/266873)

Thanks in advance.

---

<div class="post-metadata">

**Author:** ![robin-vetsch](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@robin-vetsch](https://forums.developer.nvidia.com/u/robin-vetsch)\
**Post date:** [October 4, 2023, 11:12am UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/2 "2023-10-04T11:12:00Z")

</div>

Hi,

I think the code structure is correct so far. I have a similar task implemented with RMPflow in the same structure. what happens if you simply pass the position and orientation of the observation to the method rmpflow.set\_end\_effector\_target()?

Something like this:

```auto
while simulation_app.is_running():
    my_world.step(render=True)
    if my_world.is_playing():
        if my_world.current_time_step_index == 0:
            my_world.reset()
        observations = my_world.get_observations()

        #Set rmpflow target to be the current position of the target cube.
        rmpflow.set_end_effector_target(
            target_position=observations[target_name]["position"],
            target_orientation=observations[target_name]["orientation"],
        )

        actions = articulation_rmpflow.get_next_articulation_action()
        articulation_controller.apply_action(actions)

```

Robin

---

<div class="post-metadata">

**Author:** ![tribikram](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tribikram](https://forums.developer.nvidia.com/u/tribikram)\
**Post date:** [October 4, 2023, 12:18pm UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/3 "2023-10-04T12:18:25Z")

</div>

> [@robin-vetsch](#):
>
> ```auto
> tion=observations[target_name]["orientation"],
> )
> 
> actions = articulation_rmpflow.get_next_articulation_action()
> articulation_controller.apply_action(actions)
> 
> ```

The robotic arm moves towards +y if the target is moved towards -y, but the Lula end effector moves towards the direction of the target cube. Check the gray cuboid in the video.

Here is the link for the video.  
[video](https://www.youtube.com/watch?v=OFiAD4AU62Q)

---

<div class="post-metadata">

**Author:** ![tribikram](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tribikram](https://forums.developer.nvidia.com/u/tribikram)\
**Post date:** [October 4, 2023, 12:20pm UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/4 "2023-10-04T12:20:24Z")

</div>

What problem do you have with the implemented RMP flow algo ??

Regards,  
T.

---

<div class="post-metadata">

**Author:** ![robin-vetsch](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@robin-vetsch](https://forums.developer.nvidia.com/u/robin-vetsch)\
**Post date:** [October 4, 2023, 12:27pm UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/5 "2023-10-04T12:27:29Z")

</div>

sorry it was poorly written. I had no problems with the implementation. I tried it with a UR10 and a UR5e.

Can you provide the files for the RMPFlow() object? (robot\_description, urdf\_path, rmpflow\_config\_path).

---

<div class="post-metadata">

**Author:** ![tribikram](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tribikram](https://forums.developer.nvidia.com/u/tribikram)\
**Post date:** [October 4, 2023, 12:35pm UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/6 "2023-10-04T12:35:53Z")

</div>

Sure, here you go.

[husky\_ur3\_config\_files.zip](https://forums.developer.nvidia.com/uploads/short-url/msZnmg98C4WDUFT3EuaI8Qr9PSg.zip) (12.0 KB)

---

<div class="post-metadata">

**Author:** ![tribikram](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tribikram](https://forums.developer.nvidia.com/u/tribikram)\
**Post date:** [October 4, 2023, 12:50pm UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/7 "2023-10-04T12:50:40Z")

</div>

[robot\_util\_files.zip](https://forums.developer.nvidia.com/uploads/short-url/zD9ZKFeyk3jkfcOfmT0sDWXtsxH.zip) (9.3 KB)  
These are the .py files and it also contains the USD of the scene.

---

<div class="post-metadata">

**Author:** ![robin-vetsch](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@robin-vetsch](https://forums.developer.nvidia.com/u/robin-vetsch)\
**Post date:** [October 4, 2023, 12:52pm UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/8 "2023-10-04T12:52:54Z")

</div>

I have looked at the files, I have not noticed anything out of the ordinary, could you try replacing the config\_2.yaml with the following content?

```auto
# The robot description defines the generalized coordinates and how to map those
# to the underlying URDF dofs.

api_version: 1.0

# Defines the generalized coordinates. Each generalized coordinate is assumed
# to have an entry in the URDF.
# Lula will only use these joints to control the robot position.
cspace:
    - ur_arm_shoulder_pan_joint
    - ur_arm_shoulder_lift_joint
    - ur_arm_elbow_joint
    - ur_arm_wrist_1_joint
    - ur_arm_wrist_2_joint
    - ur_arm_wrist_3_joint

default_q: [0.0,-0.785,-1.5707,-2.356,-1.5707,-1.5707]

# Most dimensions of the cspace have a direct corresponding element
# in the URDF. This list of rules defines how unspecified coordinates
# should be extracted or how values in the URDF should be overwritten.

cspace_to_urdf_rules:
    - {name: front_left_wheel, rule: fixed, value: 0.0}
    - {name: front_right_wheel, rule: fixed, value: 0.0}
    - {name: rear_left_wheel, rule: fixed, value: 0.0}
    - {name: rear_right_wheel, rule: fixed, value: 0.0}

# Lula uses collision spheres to define the robot geometry in order to avoid
# collisions with external obstacles. If no spheres are specified, Lula will
# not be able to avoid obstacles.

collision_spheres:
  - ur_arm_base_link_inertia:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.08
  - ur_arm_shoulder_link:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.07
    - "center": [0.013, 0.014, -0.07]
      "radius": 0.04
  - ur_arm_upper_arm_link:
    - "center": [-0.002, -0.003, 0.143]
      "radius": 0.07
    - "center": [-0.234, -0.0, 0.131]
      "radius": 0.06
    - "center": [-0.063, -0.002, 0.14]
      "radius": 0.067
    - "center": [-0.122, -0.001, 0.137]
      "radius": 0.065
    - "center": [-0.179, -0.001, 0.134]
      "radius": 0.062
  - ur_arm_forearm_link:
    - "center": [-0.0, -0.0, 0.045]
      "radius": 0.05
    - "center": [-0.201, -0.0, 0.03]
      "radius": 0.05
    - "center": [-0.04, -0.0, 0.042]
      "radius": 0.05
    - "center": [-0.08, -0.0, 0.039]
      "radius": 0.05
    - "center": [-0.12, -0.0, 0.036]
      "radius": 0.05
    - "center": [-0.161, -0.0, 0.033]
      "radius": 0.05
  - ur_arm_wrist_1_link:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.05
  - ur_arm_wrist_2_link:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.045
  - ur_arm_wrist_3_link:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.04
  - base_link:
    - "center": [-0.32, 0.145, -0.0]
      "radius": 0.05
    - "center": [-0.333, -0.142, -0.0]
      "radius": 0.05
    - "center": [-0.322, 0.097, -0.0]
      "radius": 0.05
    - "center": [-0.324, 0.049, -0.0]
      "radius": 0.05
    - "center": [-0.326, 0.002, -0.0]
      "radius": 0.05
    - "center": [-0.329, -0.046, -0.0]
      "radius": 0.05
    - "center": [-0.331, -0.094, -0.0]
      "radius": 0.05
    - "center": [0.339, -0.165, 0.0]
      "radius": 0.05
    - "center": [-0.256, -0.144, -0.0]
      "radius": 0.05
    - "center": [-0.179, -0.147, -0.0]
      "radius": 0.05
    - "center": [-0.101, -0.149, -0.0]
      "radius": 0.05
    - "center": [-0.024, -0.152, -0.0]
      "radius": 0.05
    - "center": [0.053, -0.155, 0.0]
      "radius": 0.05
    - "center": [0.131, -0.157, 0.0]
      "radius": 0.05
    - "center": [0.208, -0.16, 0.0]
      "radius": 0.05
    - "center": [0.285, -0.163, 0.0]
      "radius": 0.05
    - "center": [0.332, 0.142, 0.0]
      "radius": 0.05
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      "radius": 0.05
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      "radius": 0.05
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      "radius": 0.05
    - "center": [-0.03, 0.144, -0.0]
      "radius": 0.05
    - "center": [0.043, 0.143, 0.0]
      "radius": 0.05
    - "center": [0.115, 0.143, 0.0]
      "radius": 0.05
    - "center": [0.187, 0.143, 0.0]
      "radius": 0.05
    - "center": [0.26, 0.143, 0.0]
      "radius": 0.05
    - "center": [0.338, -0.114, 0.0]
      "radius": 0.05
    - "center": [0.337, -0.063, 0.0]
      "radius": 0.05
    - "center": [0.336, -0.011, 0.0]
      "radius": 0.05
    - "center": [0.335, 0.04, 0.0]
      "radius": 0.05
    - "center": [0.334, 0.091, 0.0]
      "radius": 0.05
    - "center": [0.264, -0.112, 0.0]
      "radius": 0.05
    - "center": [0.19, -0.109, 0.0]
      "radius": 0.05
    - "center": [0.115, -0.107, 0.0]
      "radius": 0.05
    - "center": [0.041, -0.105, 0.0]
      "radius": 0.05
    - "center": [-0.034, -0.103, -0.0]
      "radius": 0.05
    - "center": [-0.108, -0.101, -0.0]
      "radius": 0.05
    - "center": [-0.182, -0.098, -0.0]
      "radius": 0.05
    - "center": [-0.257, -0.096, -0.0]
      "radius": 0.05
    - "center": [0.263, -0.061, 0.0]
      "radius": 0.05
    - "center": [0.189, -0.059, 0.0]
      "radius": 0.05
    - "center": [0.115, -0.057, 0.0]
      "radius": 0.05
    - "center": [0.041, -0.055, 0.0]
      "radius": 0.05
    - "center": [-0.033, -0.053, -0.0]
      "radius": 0.05
    - "center": [-0.107, -0.052, -0.0]
      "radius": 0.05
    - "center": [-0.181, -0.05, -0.0]
      "radius": 0.05
    - "center": [-0.255, -0.048, -0.0]
      "radius": 0.05
    - "center": [0.262, -0.01, 0.0]
      "radius": 0.05
    - "center": [0.189, -0.009, 0.0]
      "radius": 0.05
    - "center": [0.115, -0.007, 0.0]
      "radius": 0.05
    - "center": [0.042, -0.006, 0.0]
      "radius": 0.05
    - "center": [-0.032, -0.004, -0.0]
      "radius": 0.05
    - "center": [-0.106, -0.003, -0.0]
      "radius": 0.05
    - "center": [-0.179, -0.001, -0.0]
      "radius": 0.05
    - "center": [-0.253, 0.0, -0.0]
      "radius": 0.05
    - "center": [0.262, 0.041, 0.0]
      "radius": 0.05
    - "center": [0.188, 0.042, 0.0]
      "radius": 0.05
    - "center": [0.115, 0.043, 0.0]
      "radius": 0.05
    - "center": [0.042, 0.044, 0.0]
      "radius": 0.05
    - "center": [-0.031, 0.045, -0.0]
      "radius": 0.05
    - "center": [-0.105, 0.046, -0.0]
      "radius": 0.05
    - "center": [-0.178, 0.047, -0.0]
      "radius": 0.05
    - "center": [-0.251, 0.048, -0.0]
      "radius": 0.05
    - "center": [0.261, 0.092, 0.0]
      "radius": 0.05
    - "center": [0.188, 0.092, 0.0]
      "radius": 0.05
    - "center": [0.115, 0.093, 0.0]
      "radius": 0.05
    - "center": [0.042, 0.094, 0.0]
      "radius": 0.05
    - "center": [-0.031, 0.094, -0.0]
      "radius": 0.05
    - "center": [-0.103, 0.095, -0.0]
      "radius": 0.05
    - "center": [-0.176, 0.096, -0.0]
      "radius": 0.05
    - "center": [-0.249, 0.096, -0.0]
      "radius": 0.05
  - rear_right_wheel_link:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.16
  - rear_left_wheel_link:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.16
  - front_left_wheel_link:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.16
  - front_right_wheel_link:
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.16
  - top_plate_link:
    - "center": [-0.247, 0.156, 0.003]
      "radius": 0.023
    - "center": [-0.06, 0.065, 0.003]
      "radius": 0.023
    - "center": [0.056, 0.255, 0.003]
      "radius": 0.023
    - "center": [0.013, 0.126, 0.003]
      "radius": 0.023
    - "center": [-0.324, 0.168, 0.003]
      "radius": 0.023
    - "center": [-0.046, -0.286, 0.003]
      "radius": 0.023
    - "center": [0.352, 0.154, 0.003]
      "radius": 0.023
    - "center": [-0.132, 0.084, 0.003]
      "radius": 0.023
    - "center": [0.32, 0.008, 0.003]
      "radius": 0.023
    - "center": [-0.292, 0.109, 0.003]
      "radius": 0.023
    - "center": [0.026, -0.078, 0.003]
      "radius": 0.023
    - "center": [-0.134, -0.124, 0.003]
      "radius": 0.023
    - "center": [-0.292, -0.181, 0.003]
      "radius": 0.023
    - "center": [-0.104, 0.039, 0.003]
      "radius": 0.023
    - "center": [-0.22, 0.083, 0.003]
      "radius": 0.023
    - "center": [-0.091, -0.238, 0.003]
      "radius": 0.023
    - "center": [-0.058, -0.006, 0.003]
      "radius": 0.023
    - "center": [0.159, 0.079, 0.003]
      "radius": 0.023
    - "center": [-0.192, -0.195, 0.003]
      "radius": 0.023
    - "center": [0.128, 0.111, 0.003]
      "radius": 0.023
    - "center": [-0.281, -0.224, 0.003]
      "radius": 0.023
    - "center": [-0.249, 0.067, 0.003]
      "radius": 0.023
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```

---

<div class="post-metadata">

**Author:** ![tribikram](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tribikram](https://forums.developer.nvidia.com/u/tribikram)\
**Post date:** [October 5, 2023, 6:17am UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/9 "2023-10-05T06:17:25Z")

</div>

Thanks for your reply.

I did what you asked I replaced the config\_2.yaml with your code and now I dont need to hardcode the +y -y direction change as I mentioned above, but now a change in direction in x has been occurring. If the target moves +x the end effector moves -x.

Check out the video here.  
[video](https://www.youtube.com/watch?v=TNI0aQKYMX0)

I guess I have to change the positive negative values of the default\_q vector and check which one gives me the proper directional movement. But how do I make the arm reach precisely to the target position ? Is there any way to do that ?

---

<div class="post-metadata">

**Author:** ![robin-vetsch](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@robin-vetsch](https://forums.developer.nvidia.com/u/robin-vetsch)\
**Post date:** [October 5, 2023, 6:30am UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/10 "2023-10-05T06:30:54Z")

</div>

Did you create the ur3\_robot\_description (or config\_2.yaml) file yourself with the Lula Robot Description Editor ([Lula Robot Description Editor — Omniverse IsaacSim latest documentation](https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_motion_generation_robot_description_editor.html#isaac-sim-app-tutorial-motion-generation-robot-description-editor)), including the Husky base platform?

---

<div class="post-metadata">

**Author:** ![tribikram](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tribikram](https://forums.developer.nvidia.com/u/tribikram)\
**Post date:** [October 5, 2023, 6:37am UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/11 "2023-10-05T06:37:24Z")

</div>

Yes I did.

I checked out the tutorial and followed the tutorial to make the robot description file. I kept the mobile robot joints ( the 4 wheel joints ) as fixed joints and the ur3 arm joints as active joints and generated collision spheres for the arm, the base of the mobile robot and the 4 wheels.

 ![query2](https://global.discourse-cdn.com/nvidia/original/4X/d/d/1/dd18ef1c0e97766b249241f535acd7fe815876a4.png)

However I didnt do it for the small links (rear bumper link, front bumper link …you can see in the photo above) that were attached to the mobile robot base. But I dont think that has to do with anything with how Lula behaves. Does it ?

---

<div class="post-metadata">

**Author:** ![robin-vetsch](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@robin-vetsch](https://forums.developer.nvidia.com/u/robin-vetsch)\
**Post date:** [October 5, 2023, 6:52am UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/12 "2023-10-05T06:52:01Z")

</div>

[UR5\_Test.zip](https://forums.developer.nvidia.com/uploads/short-url/SHD91dDZSIBAyw9kLUYap7ZPQl.zip) (2.7 MB)

Here you find the config files and a code snippet for a RMPflow application with an UR5e. Maybe this helps.

---

<div class="post-metadata">

**Author:** ![tribikram](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@tribikram](https://forums.developer.nvidia.com/u/tribikram)\
**Post date:** [October 5, 2023, 8:04am UTC](https://forums.developer.nvidia.com/t/custom-robot-arm-not-reaching-target-while-using-rmp-flow-imprecise-control-of-robotic-arm/268402/13 "2023-10-05T08:04:39Z")

</div>

Thank you. I will check it and let you know.