Real-Time Physics Simulation Forum

Hi, I am trying to control the kuka robot
action = [a1,a2,a3,a4,a5]
a1 should move in x direction but whole robot arm moves in weird way. is that an error in reverse kinematics?
a2 in y direction, but same issue...

a3 correctly moves up and down in z dimension


Code used:
env = KukaGymEnv(renders=args.render, maxSteps=args.mel, actionRepeat=args.repeat)
def main():
for i_episode in range(1000):
print('New Episode:')
obs = env.reset()
ep_reward = 0
for t in range(args.mel):
action = [-0.0,-0.0,0.1,0,0]
obs, reward, done, info = env.step(action)
# print(i, reward, done)
ep_reward += reward[0]
time.sleep(0.1)

if done:
print('Episode done!')
break

There are some inverse kinematics examples with Kuka, see https://github.com/bulletphysics/bullet ... ematics.py