ElectronicElephant/pybullet_ur5_robotiq

about the RPY

wukongwong opened this issue · 2 comments

wukongwong commented

Hi,
Thanks for providing a good simulation. I just checked the RPY control, found only Y works, RP not. So I just wonder whether it's code like this, or there is some bug?

ElectronicElephant commented

Hello Wukong,

Thanks for reaching me.

I mainly focus on the so-called Top-Down pushing and grasping, so RP are fixed by default, in the Environment class.

See here

pybullet_ur5_robotiq/env.py

Line 199 in 4356e14

roll, pitch = 0, np.pi / 2

Just comment out this line, and RP will work.

If you have more questions, feel free to contact me. Please don't forget to give me a star, if you like. 😆

  • 👍1
wukongwong commented

It works now after I did as you just said. I need to check the code by myself actually. Thanks!