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Hi, I am having an issue using the FCL with the UR models.
I am trying to allocate a collisionscene from FCL and load a scene containing a UR.
You can reproduce that in the rlCollisionDemo pretty easily.

Steps to reproduce:

• download examples
• use rlCollisionDemo with FCL
• open rl-examples/rlsg/universal-robots-ur5_boxes.xml

The resulting error message:

rl::sg::XmlFactory::load() - shapeScaleFactor not supported

I tried to find such a factor in the model. The only scale factor is in the UR links but changing it seems to make no difference.

The exception itself is thrown in sg/XmlFactory.cpp in line 243 (commit cba76ed3e54676d4 which is HEAD at the time of writing). I tried debugging a bit deeper but I could not really find the issue.

Thank you very much in advance
Bernhard

Hi,I am researching motion planning for robotic arms and trying to figure out how to use urdf working with RL.I have installed version 0.7.0 before,but i find rlPlanDemo.c​​pp in the current version on the master branch have already support urdf file,and run this demo using the cmd as follow:
./rlPlanDemo --enable-quit /data/motion_planning/kuka_kr10_r1100-7/urdf/kuka_kr10_r1100-7.urdf
It comes out:
Segmentation fault (core dumped)
But when i use the demo rlCoachMdl ,it works
I believe that my urdf file and the calling method for stl files is correct
Is there a problem with my function usage​​

I am looking forward to your reply,and thanks for help!

In our software we use the Robotics Library for visualisation of a real UR5e robot. I succesfully integrated the VRML model and MDL kinematics reading the rlCoachMdl source code. Everything works quite well - so first I would like to thank you for this great library.

I have two questions regarding the UR5e kinematics. I noticed that the rlmdl folder contains two xml files for UR5 robot:

• universal-robots-ur5.xml
• universal-robots-ur5-3.xml

Which file is the right one for an UR5e robot? The second file contains the name UR5 (Serie 3). But I cannot find any information about Serie 3. I only find UR5 and UR5e on the UR homepage. At the moment we use the universal-robots-ur5 file, but we noticed that the kinematics does not match the kinematics of the UR5 perfectly. We tested this with the URsim simulator because it should use the default Denavit-Hartenberg parameters without any additional hardware calibration offset.

In the software we visualized the TCP with a yellow sphere. We noticed, that the spere moves sligthly if we rotate around the TCP. The following two pictures show this. In the first one, the green arrow of the axis cross points into the sphere:

After the rotation, the TCP sphere is slightly off:

In the teach pendant visualization, the TCP sphere is perfectly at the same location:

So I think, this is an indication, that the kinematics parameters do not perfectly match. It does not matter if we use universal-robots-ur5 or universal-robots-ur5-3 for kinematics. We simply read the joints from the robot and pass it to the rl kinematics.

Did you use the kinematics parameters from this site:

https://www.universal-robots.com/articles/ur/application-installation/parameters-for-calculations-of-kinematics-and-dynamics/

Do you have the original files that you used for building the MDL XML files?

Any idea what I can do to fix this?

Thank you, Uwe

Hi,It is very difficult to generate rlmdl,rlkin files. Is there any software that can automatically generate robot.rlmdL.xml?
For example, solidworks sw2urdf can generate urdf file.

hi there, I am using kinova jaco-2, 7 D.O.F spherical wrist robot for my research work, and also using RL library in conjunction with vision ...if you can upload a model of kinova jaco2 7d..o.f robot xml description file...that will be so helpful ..
I have tried to develop using the format and tutorial provided in RL website and also trying to develop from URDF model , but it was not successful yet.
As lots of other people are also using this robot in research nowadays, it will be beneficial for all of us.
thanks
Zubair
PhD scholar
HIT university

Just want to start by saying this library is looking really great!

Would it be possible to have a demo of dual-arm path planning? I noticed there is a comau-rml-dual-arm.wrl, however there are no accompanying rlsg, rlkin, or rlmdl descriptions. I would love to try out some dual-arm applications within rl, but I am finding it difficult to do so as I'm still just starting out working with the library.

Under the assumption that only one arm will be used at a time, is it possible to treat the two arms with separate rlkin descriptions and planners?