[Question]: Issue with Urdf of Pincher X arms

[juttu-s]

Question

I encountered an issue while importing the URDF (Unified Robot Description Format) of the Pincher X (150, 100) arms into MATLAB. I started by converting a .urdf.xacro file into a .urdf file using the xacro library. After successfully importing the URDF into MATLAB, I proceeded to test the robot's pose by providing the desired end-effector position using MATLAB's Robotics System Toolbox.

While the system correctly handles movements in the X and Z coordinates, I observed a problem with the Y coordinate. Specifically, the waist joint of the robot, which should rotate to align with the desired Y coordinate, does not rotate as expected when I specify the end-effector coordinates alone. However, if I manually set the Euler Z angles, the waist joint rotates correctly. This behavior is perplexing because when I use the same converted URDF in ROS and visualize it in RViz, the robot performs as expected, smoothly moving to the desired end-effector positions, including in the Y direction.

In summary, while the URDF seems to function correctly in ROS and RViz, it does not produce the same expected behavior in MATLAB, particularly concerning movements in the Y coordinate when using only the end-effector position as input.

Robot Model

px150, px100

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

No response