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

[Stefan K. <ste...@gm...>]

Hi Rosen,

thanks for the fix. It appears the Assertion for the ikfast code
generated for the leg is gone now.

Generating the IK for the arm results in the same error as stated in
my original posting, however. Is it possible to also fix this issue,
or are the kinematics of the arm just too difficult for that?

regards,
Stefan




2012/10/30 Rosen Diankov <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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