Different Axes of rotation arrangement for UR5
Since the new version of UR driver available for CB3 UR's, the urdf
from the ur_description
from fmauch
fork can extract the factory calibration of the manipulator. Hence I want to use that version of the urdf to generate the IkFast plugin. However, no matter how I tried the result is still unsuccessful with no solutions: 1.0! While I used the melodic-devel
branch of the ur_description
the IkFast plugin finished with:
openravepy.databases.inversekinematics: testik,
success rate: 0.932000,
wrong solutions: 0.000000,
no solutions: 0.068000,
missing solution: 0.867000
Then I used view_ur5.launch
to examine the differences between the two different urdf
and it shows: the fmauch
fork uses the z axis as the axis of rotation for all the joints, whereas the molodic-devel
uses the y axis as the axis of rotation for the joints.
The above is the ur5 view for the fmauch
fork.
The above is the ur5 view for the melodic-devel
.
Is there anyway to put the calibration data into the melodic-devel
urdf or how to change the fmauch
urdf to use the y axis as the axis of rotation for the joints? Because I suspect the different axis of rotation for the joints is the reason causing one can generate the IkFast plugin and the other cannot.
Thank you very much for your help.
Victor Wu.