Federico Ceola

Hi @kevinzakka, thanks for your response. I tried to modify the parameters as you suggested, but the problem persists. However, the parameters that I'm using are the ones that work...

Hi @yuvaltassa, sure! Here you can find the models of both the hand and the sugarbox. [hand_sugarbox_model.zip](https://github.com/deepmind/mujoco/files/9299570/hand_sugarbox_model.zip) Thanks!

Here's the complete model! Thanks :) [mjcf_with_assets.zip](https://github.com/deepmind/mujoco/files/9299786/mjcf_with_assets.zip)

Thanks, now it works. As explained [here](https://mujoco.readthedocs.io/en/latest/modeling.html#mocap-bodies), `icub_r_hand_sphere` was my second body and `icub_r_hand` my actual mocap body, but I added `icub_r_hand_sphere` to the hand and not to the worldbody....

Hi @traversaro, thanks for you response! The problem that I am trying to solve is to find a suitable joints configuration to reach a target pose for the *r_hand_dh_frame* link...

Hi @pattacini, thanks for your response! I see a couple of problems in using the grasping sandbox: I am using python and currently I am not using YARP. Would it...

@traversaro thanks so much for your suggestions! The examples that you suggested are the ones that I was using as a guide. In the meanwhile, I upgraded the version to...

@pattacini thanks for the clarification on the grasping-sandbox. I need the robot, but I am not using gazebo as simulator, thus in my simulated environment I don't have YARP in...

Hi @traversaro, I made some tests with the IK solver following your suggestions, but I'm still facing some problems. Specifically, the solutions that I get from the solver are not...

Yes, I tried to reduce the value up to 1e-10, having similar results.