The vrep scenes with Jaco2 have six joints, but the abr_control uses only five. This is expected? about abr_control HOT 2 CLOSED

@p3jawors Thanks for your help!
It is working as you mentioned!

from abr_control.

Hello Juan,

Thank you for the kind words! When you instantiate your robot config, you need to specify whether you are using the arm with or without a gripper. If you change your first line after imports to

robot_config = arm.Config(use_cython=True, hand_attached=True) it should fix the problem.

What's happening here is that when we do not have the hand attached, there is no link after the final joint, so we do not include it in the controllable joints. This changes the feedback from the arm to be of length (5,) instead of (6,).

Hope that clears things up, let me know if it doesn't solve the problem.

Cheers,

Pawel

from abr_control.