Comments (5)
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.
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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!
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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"?
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Thanks, i found waypoints in arm_plan and what i mean kinematic path graph is picture down below
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OK
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