[OpenRAVE-users] IKFast for 7dof Arm
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From: davetcoleman <dav...@gm...> - 2012-12-04 00:56:41
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Hi, I've been putting off trying to get my redundant robot setup with IKFast but I think I need its power. I'm having issues getting IKFast to generate an cpp output file for use with ROS. When using /--baselink=0 and ---eelink=6 /on this robot <http://davetcoleman.com/clam_arm.dae> it fails to find a solution, with this output <https://gist.github.com/4199293> . I mostly mention this because I read on openrave's website that if you find an arm that cannot be solved then let you guys know. When I used /--eelink=7/ and /--freeindex=2/ IKFast was able to find a solution. However, using these instructions <http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution> I created a IK plugin for ROS arm_navigation but no valid IK solutions were able to be found, and I'm not sure where to start in fixing this issue. Additionally, using the IKFast command line interface and a pose that I can normally solve using the much slower KDL solver, I was unable to get a solution using this demo <http://kaist-ros-pkg.googlecode.com/svn/trunk/arm_kinematics_tools/src/ikfastdemo/ikfastdemo.cpp> : test_ikfast ik 0.2222066 -0.0088 .197156 0.703466 0.00 0.710502 -0.01755 0.0 Here <http://correll.cs.colorado.edu/clam/> are more details about the robot, if needed. Any guidance with this is much appreciated. I additionally asked a question about redundant joints here on ros answers <http://answers.ros.org/question/49652/openrave-ikfast-for-6-dof-redundant-manipulator/> that I would love some help with. -- View this message in context: http://openrave-users-list.185357.n3.nabble.com/IKFast-for-7dof-Arm-tp4025698.html Sent from the OpenRAVE Users List mailing list archive at Nabble.com. |