Lula Kinematics Solver with custom URDF arm

Omniverse Isaac Sim
1

I am trying to use “follow target” task with my URDF / USD.
I have been able to use the gripper with it, and my code shows no errors when running. But, Lula IK solver says it can’t find the solution (can’t converge) which is strange, because it’s a 6-DoF open manipulator arm. Can someone advise me what should I look at?

2

Hi @phenomen21 - Did you follow this documentation? 6.4. Lula Kinematics Solver — Omniverse IsaacSim latest documentation

4

Thank you, yes, I have, cobotta example works perfectly. I guess something is wrong with my URDF, but I don’t understand what is wrong with it.

5

RMPFlow works BTW, but kind of strange, needs tuning

6

Yes, use this section for tuning: 5.7. Adding a New Manipulator — Omniverse IsaacSim latest documentation

https://docs.omniverse.nvidia.com/isaacsim/latest/ros_tutorials/tutorial_ros_turtlebot.html?highlight=tuning#tune-the-robot