Why result of mpc is different to the real robot pose?

[shiweizheng]

I configured my own fanuc robot and run mpc_example.py. Then I got a reslut which shows MPC is success. But the result of MPC is different with my goal Pose.For example, I set start joint state is [ 0.0000, 0.0000, 0.2620, 0.0000, -0.2620, 0.0000], and goal joint state is [0.5000, 0.5000, 0.7620, 0.5000, 0.2380, 0.5000]. Finally I get a result and the last of trajotary is [0.4964, 0.5026, 0.7873, 0.4158, 0.2460, 0.5890], which is not same as the goal state.

Another strange thing, the goal state is set [ 0.0000, 0.0000, 0.2620, 0.0000, -0.2620, 0.0000], then the Pose calculated is "ee_pos_seq=tensor([[ 0.7357, -0.5725, 0.9365]], device='cuda:0'), ee_quat_seq=tensor([[0.5191, 0.6769, 0.1262, 0.5064]]", which is not equal to real robot pose. That seems the result of IK is wrong?

Is this correct? And which I did wrong?Thank a lot!!

[balakumar-s]

What robot are you using?

[shiweizheng]

Thanks. Fanuc crx-10ia. The URDF file is view by other project, and it seems correct.

And the URDF file is here.
fanuc_crx_urdf_meshes.zip
I was stuck several days. thanks a lot

[balakumar-s]

Did you create a cuRobo configuration file for the robot? If so can you share that as well to help us debug.

[shiweizheng]

Sorry so late! Thank you
Here is my configuration file about fanuc robot.
configuration.zip

But, i think maybe there is another my mistake.I run ik_example.py using official ur5e configuration, and the IK result is also wrong.
I set target positon is [-0.81726, -0.2329, 0.0628] and quaternion is [0.7071068, 0.7071068, 0.0, 0.0]. The supposed IK result(degree) is joints [0,0,0,0,0,0], but the result(degree) is [167.3806915283203, -8.563478469848633, 13.385866165161133, -54.911800384521484, -37.77490997314453, 39.57598114013672]. I'm very confused.

And i also test my fanuc configuraton. result is also wrong. joint 5 is supposed -90 degree，but it is 90 degree.

I think maybe that wrong IK result is the reason about wrong mpc.I am new to robot. Special thanks to your help.