Re: [OpenRAVE-users] IK Solution

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

dear Sajjad,

sorry for the late response.

we highly recommend you use the ikfast solvers through openrave rather
than the raw C++ file generated. as you can see, it can get very
confusing with which coordinate system you are working with. openrave
makes this simple and it comes with a viewer to verify your inputs.
you can see from this example that it isn't a lot of code:

http://openrave.org/docs/latest_stable/tutorials/openravepy_examples/#inverse-kinematics-transform6d

rosen,

2012/10/30 Sajjad Torabian Esfahani <tor...@gm...>:
> 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
>
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