[OpenRAVE-users] IK Solution
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From: Sajjad T. E. <tor...@gm...> - 2012-10-30 07:11:17
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Dear All, I generated inverse kinematics cpp code for the left foot of NAO and want to get the Ik solutions in this case: eerot[0] = 1; eerot[1] = 0; eerot[2] = 0; eerot[3] = 0; eerot[4] = 1; eerot[5] = 0; eerot[6] = 0; eerot[7] = 0; eerot[8] = 1; eetrans[0] = 1; eetrans[1] = 1; eetrans[2] = 1; As you see, to test the code I set the matrices in a simple case, though there should be no change in the position of the foot. But, there is a major problem! As I run the code, I get: Returns the ik solutions given the transformation of the end effector specified by a 3x3 rotation R (rXX), and a 3x1 translation (tX). There are 0 free parameters that have to be specified. And the code doesn't pass the first if statement. I don't know what to do and will be grateful if you can help me deal with that. Best Regards Sajjad Torabian |