How to locate the robotic arm's end articulation in every step?

Isaac Sim Version

[ v] 4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

[v] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA GeForce RTX 4070
  • Driver Version: NVIDIA-SMI 535.183.01

Topic Description

Detailed Description

The location of the clamp linked to the end of the robot arm is under the table in the beginning.
And in the movement trajectory the robotic arm always always twists itself together.

Steps to Reproduce

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Error Messages

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Screenshots or Videos

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Additional Information

What I’ve Tried

I have changed the set_joint_positions parameter, and the end point of the robotic arm is right.
I try to change the robotic arm’s trajectory next time, if you have some advise, welcome to communication.

Related Issues

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Additional Context

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Could you provide more details about this issue? It would be better if we had the scene file to reproduce it.

May be I don’t have the right rmpflow’s yaml file, this robotic arm haven’t given a right rmpflow file. How can I make a rmpflow for the robotic arm?

I haven’t had a chance to work on that myself. Could you take a look at RMPflow — Isaac Sim Documentation and see if it helps?