HELP!!! Cannot find solution of TranslationZAxisAngle4D

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HELP!!! Cannot find solution of TranslationZAxisAngle4D

xuxinwang

Dear all
Sorry to trouble you.
I want to find the TranslationZAxisAngle4D solution. This arm is 4-dof. However, the computer shows that

[plugindatabase.h:392] /usr/share/openrave-0.8/plugins doesn't exist
[plugindatabase.h:573] Failed to create name ode, interface collisionchecker
[plugindatabase.h:573] Failed to create name bullet, interface collisionchecker
[plugindatabase.h:573] Failed to create name pqp, interface collisionchecker
[plugindatabase.h:573] Failed to create name IdealController, interface controller
/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py:1122: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
INFO: moved translation [0, 0, 0] to right end
INFO: moved translation [0, 0, -1/10] to left end
INFO: moved translation on intersecting axis [0, 0, 0] to left
INFO: [[-141478*40000087709**(1/2)/40000087709, 0, -141365*40000087709**(1/2)/40000087709, 28273*40000087709**(1/2)/80000175418],[0, 1, 0, 0],[141365*40000087709**(1/2)/40000087709, 0, -141478*40000087709**(1/2)/40000087709, 70739*40000087709**(1/2)/200000438545]]
INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 1562501**(1/2)/1562501, -1250*1562501**(1/2)/1562501, 0],[-1562502**(1/2)/1562502, 625*1562502**(1/2)/781251, 1562502**(1/2)/1562502, 0],[2441410937502**(1/2)/1562502, 625*2441410937502**(1/2)/1220705468751, 2441410937502**(1/2)/2441410937502, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[-100000*10000025281**(1/2)/10000025281, -15899841*99999415627883525242**(1/2)/99999415627883525242, 54219*99999415627883525242**(1/2)/99999415627883525242, -20000*10000025281**(1/2)/10000025281],[-159*10000025281**(1/2)/10000025281, 4999950000*99999415627883525242**(1/2)/49999707813941762621, -17050000*99999415627883525242**(1/2)/49999707813941762621, -159*10000025281**(1/2)/50000126405],[0, -341*9999916282**(1/2)/9999916282, -99999*9999916282**(1/2)/9999916282, 0]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 1/5],[0, 1, 0, 0],[0, 0, 1, 0]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[10000*100000001**(1/2)/100000001, -1250*156250101562501**(1/2)/156250101562501, 156250101562501**(1/2)/156250101562501, 62499*100000001**(1/2)/12500000125],[-100000001**(1/2)/100000001, -12500000*156250101562501**(1/2)/156250101562501, 10000*156250101562501**(1/2)/156250101562501, -1601*100000001**(1/2)/2000000020],[0, -1562501**(1/2)/1562501, -1250*1562501**(1/2)/1562501, 0]]
INFO: ikfast translation axis 4d, globaldir=[0]
[0]
[1], basedir=[1]
[0]
[0]: [j0, j1, j2, j3]
INFO: [] [j0, j1, j2, j3]
INFO: [j2] [j0, j1, j3]
INFO: j3 solution: equations used for atan2: [1601*100000001**(1/2)*sin(j3)/5000000050 + 124998*100000001**(1/2)*cos(j3)/62500000625 + 641/250000, -sj2/5 + 62499*100000001**(1/2)*sin(j3)/12500000125 - 1601*100000001**(1/2)*cos(j3)/2000000020, cj2/5 + 1601*100000001**(1/2)*sin(j3)/2000000020 + 62499*100000001**(1/2)*cos(j3)/12500000125 + 1/5, 62499*100000001**(1/2)*cj2*sin(j3)/12500000125 - 1601*100000001**(1/2)*cj2*cos(j3)/2000000020 + 1601*100000001**(1/2)*sj2*sin(j3)/2000000020 + 62499*100000001**(1/2)*sj2*cos(j3)/12500000125 + sj2/5, 1601*100000001**(1/2)*cj2*sin(j3)/2000000020 + 62499*100000001**(1/2)*cj2*cos(j3)/12500000125 + cj2/5 - 62499*100000001**(1/2)*sj2*sin(j3)/12500000125 + 1601*100000001**(1/2)*sj2*cos(j3)/2000000020 + 1/5]
INFO: j3 solution: equations used for atan2: [1601*100000001**(1/2)*sin(j3)/5000000050 + 124998*100000001**(1/2)*cos(j3)/62500000625 + 641/250000, -sj2/5 + 62499*100000001**(1/2)*sin(j3)/12500000125 - 1601*100000001**(1/2)*cos(j3)/2000000020, cj2/5 + 1601*100000001**(1/2)*sin(j3)/2000000020 + 62499*100000001**(1/2)*cos(j3)/12500000125 + 1/5, 62499*100000001**(1/2)*cj2*sin(j3)/12500000125 - 1601*100000001**(1/2)*cj2*cos(j3)/2000000020 + 1601*100000001**(1/2)*sj2*sin(j3)/2000000020 + 62499*100000001**(1/2)*sj2*cos(j3)/12500000125 + sj2/5, 1601*100000001**(1/2)*cj2*sin(j3)/2000000020 + 62499*100000001**(1/2)*cj2*cos(j3)/12500000125 + cj2/5 - 62499*100000001**(1/2)*sj2*sin(j3)/12500000125 + 1601*100000001**(1/2)*sj2*cos(j3)/2000000020 + 1/5]
INFO: [j2, j3] [j0, j1]
INFO: [j2, j3, j1] [j0]
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py", line 6121, in <module>
    chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py", line 1639, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py", line 2611, in solveFullIK_TranslationAxisAngle4D
    raise self.CannotSolveError('failed to solveDialytically')
__main__.CannotSolveError: 'failed to solveDialytically'

au_crustcrawler_ax12.urdf

It is the urdf of my arm

Could someone give me some ideas?

many thanks.

Yours,
Xuxin