Re: [OpenRAVE-users] Generating IK for 6DOF humanoid appendages (prototype GFE robot) fails

[Rosen D. <ros...@gm...>]

we fixed the problem in the master branch. you'll have to check it out
from sources or copy the new ikfast.py and ikfast_generator_cpp.py
into your installation dir

rosen,

2012/10/28 Stefan Kohlbrecher <ste...@gm...>:
> Hi,
>
> I tried generating ikfast IK for the arm of the prototype
> GFE robot that is supplied with the 1.0 release of the DRC simulator.
> The URDF file is here:
>
> https://bitbucket.org/osrf/drcsim/src/bfb4796909f71942a8a917393c6c36dc45ce25fa/models/drc_robot/?at=drcsim_1.0.2
>
> Confusingly, it's named model.sdf, but indeed is in URDF format.
> Conversion to OpenRAVE/COLLADA gave me errors for the camhand meshes,
> but otherwise succeeded. If requested, I can also attach the .dae
> (it's 2.3Mb).
>
> Generating the Transform6D IK fails for me. I used the attached scene
> description and got the attached ikfast output with error "cannot
> solve 6D mechanism!" in the end. I'd be grateful for any tips to get
> this working (I also assume there are other people around the globe
> that'd be interested ;) ).
>
>
>
> I succeeded in generating IK for the legs, but sometimes when testing
> running iktests, a assertion is hit:
>
> [ikfastsolver.cpp:684] ik call failed for ik ikfast
> ikfast.41ce8f518e437c58cb4a4b72298f906c.Transform6D.drc_left_leg
> :0x67000001: ikfast exception:
> /home/kohlbrecher/.openrave/kinematics.41ce8f518e437c58cb4a4b72298f906c/ikfast61.Transform6D.x86_64.40_41_42_43_44_45.cpp:1127:
> polyroots4: Assertion 'rawcoeffs[0] != 0' failed
>
> Any tips for avoiding this are also appreciated.
>
>
> regards,
> Stefan
>
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