Robot Manipulator does not reach target position RMP Flow

Omniverse Isaac Sim
1

Hi,

I’m trying to load a custom robot into Omniverse and use RMPflow to move it to a target. I obtained the URDF for the manipulator from an online GitHub repository and made some modifications. After adjusting the gripper_center coordinate frame in the URDF, I expect the manipulator’s gripper_center to align with the target frame when reaching the target. However, the gripper_center and target frames do not coincide as expected.

Here’s what I’ve used so far:

  1. URDF: Sourced from an online GitHub repository with slight modifications.
  2. RMPflow Config: Adapted from the Cobotta_pro_900 robot’s robot_description.yaml.
  3. Robot Description: Generated using the Lula Robot Description and XRDF Editor tutorial.

I’m attaching the files I’m currently working with.
Could you help identify the cause of the mismatch between the frames?

Files.zip (7.1 KB)

2

Hello, did you find how to fix this problem, I have met the same problem.

3

Hi,
I have not found the exact reason and solution for the issue. But, I managed to get it working by changing the thresholds for translation and rotation. I changed my translation threshold from 0.01 to 0.015. I am not sure how to get a better precision.

4

Thank you very much! I solved my problem by adjust my urdf file.