Simulator Code about p-ntfields

[ruiqini]

Thanks for your question. By simulation, we mean it is a virtual environment and we don't use a simulator. We only visualize the kinematic path (waypoints) and validate if it is collision-free. For real setup, we directly send these waypoints to the UR5 controller and it works well.

[Ray1580]

Sorry for my late reply and Thanks for your fast and kind respond! And i got last question about how do you select waypoints from the code. For me, after training the models and tested the model with arm_plan, it poped out the kinematic path graph, and i have no ideas about how to select waypoints through kinematic graph.
Thanks!

[ruiqini]

I think the output in arm_plan is a list of waypoints with shape n*6 (called xyz). What do you mean by "kinematic path graph"?

[Ray1580]

Thanks, i found waypoints in arm_plan and what i mean kinematic path graph is picture down below

[ruiqini]

OK