Robot System Toolbox: Solver fails after switching Robot Model

Hello! I have an issue with creating Task Space Models in MATLAB.

I copied the example from Model rigid body tree motion given task-space reference inputs - MATLAB - MathWorks Deutschland.

However, after replacing the robot in the example ("kinovaGen3") with a different robot ("frankaEmikaPanda"), the ode solver fails saying "Error using derivative: Expected state to be non-NaN." I have updated the length if InitialState to fit the Franka Emika robot and also changed the End Effector name.

Is there some difference between the two robots that I haven't recognized? What should I change?

Thank you in advance,

Martin

[Mattis Vetterling]

Hello!

Were you able to resolve the problem? I have a similiar problem with a different robot.

Best regards

Mattis

Answer 1

[Karsh Tharyani]

Hello Martin,

I would suggest you reach out to our Technical Support team with the reproducible of the issue. That will enable us to diagnose this in an efficient manner.

Best,

Karsh