IK problem about left arm of NAO robot
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Hi, everybody,
Recently I have the naorobot.dae file and created my own xml file including the manipulator definition. I attached the two files here: https://www.dropbox.com/s/8nh734szmewo26y/IKfastNao.tar.gz Firstly I use the command openrave-robot.py newrobot.dae --info joints, I get the results: name joint_index dof_index parent_link child_link mimic -------------------------------------------------------------------------------- HeadYaw 0 0 TorsoLink HeadYawLink HeadPitch 1 1 HeadYawLink HeadPitchLink LHipYawPitch 2 2 TorsoLink LHipYawPitchLink LHipRoll 3 3 LHipYawPitchLink LHipRollLink LHipPitch 4 4 LHipRollLink LHipPitchLink LKneePitch 5 5 LHipPitchLink LKneePitchLink LAnklePitch 6 6 LKneePitchLink LAnklePitchLink LAnkleRoll 7 7 LAnklePitchLink LAnkleRollLink LShoulderPitch 8 8 TorsoLink LShoulderPitchLink LShoulderRoll 9 9 LShoulderPitchLink LShoulderRollLink LElbowYaw 10 10 LShoulderRollLink LElbowYawLink LElbowRoll 11 11 LElbowYawLink LElbowRollLink LWristYaw 12 12 LElbowRollLink LWristYawLink LFinger11 13 13 LWristYawLink LFinger11Link LFinger12 14 14 LFinger11Link LFinger12Link LFinger13 15 15 LFinger12Link LFinger13Link LFinger21 16 16 LWristYawLink LFinger21Link LFinger22 17 17 LFinger21Link LFinger22Link LFinger23 18 18 LFinger22Link LFinger23Link LThumb1 19 19 LWristYawLink LThumb1Link LThumb2 20 20 LThumb1Link LThumb2Link RHipYawPitch 21 21 TorsoLink RHipYawPitchLink RHipRoll 22 22 RHipYawPitchLink RHipRollLink RHipPitch 23 23 RHipRollLink RHipPitchLink RKneePitch 24 24 RHipPitchLink RKneePitchLink RAnklePitch 25 25 RKneePitchLink RAnklePitchLink RAnkleRoll 26 26 RAnklePitchLink RAnkleRollLink RShoulderPitch 27 27 TorsoLink RShoulderPitchLink RShoulderRoll 28 28 RShoulderPitchLink RShoulderRollLink RElbowYaw 29 29 RShoulderRollLink RElbowYawLink RElbowRoll 30 30 RElbowYawLink RElbowRollLink RWristYaw 31 31 RElbowRollLink RWristYawLink RFinger11 32 32 RWristYawLink RFinger11Link RFinger12 33 33 RFinger11Link RFinger12Link RFinger13 34 34 RFinger12Link RFinger13Link RFinger21 35 35 RWristYawLink RFinger21Link RFinger22 36 36 RFinger21Link RFinger22Link RFinger23 37 37 RFinger22Link RFinger23Link RThumb1 38 38 RWristYawLink RThumb1Link RThumb2 39 39 RThumb1Link RThumb2Link -------------------------------------------------------------------------------- name joint_index dof_index parent_link child_link mimic Then I use the same command with different info parameters: .... --info links: name index parents ------------------------------------------- TorsoLink 0 HeadYawLink 1 TorsoLink HeadPitchLink 2 HeadYawLink LHipYawPitchLink 3 TorsoLink LHipRollLink 4 LHipYawPitchLink LHipPitchLink 5 LHipRollLink LKneePitchLink 6 LHipPitchLink LAnklePitchLink 7 LKneePitchLink LAnkleRollLink 8 LAnklePitchLink LShoulderPitchLink 9 TorsoLink LShoulderRollLink 10 LShoulderPitchLink LElbowYawLink 11 LShoulderRollLink LElbowRollLink 12 LElbowYawLink LWristYawLink 13 LElbowRollLink LFinger11Link 14 LWristYawLink LFinger12Link 15 LFinger11Link LFinger13Link 16 LFinger12Link LFinger21Link 17 LWristYawLink LFinger22Link 18 LFinger21Link LFinger23Link 19 LFinger22Link LThumb1Link 20 LWristYawLink LThumb2Link 21 LThumb1Link RHipYawPitchLink 22 TorsoLink RHipRollLink 23 RHipYawPitchLink RHipPitchLink 24 RHipRollLink RKneePitchLink 25 RHipPitchLink RAnklePitchLink 26 RKneePitchLink RAnkleRollLink 27 RAnklePitchLink RShoulderPitchLink 28 TorsoLink RShoulderRollLink 29 RShoulderPitchLink RElbowYawLink 30 RShoulderRollLink RElbowRollLink 31 RElbowYawLink RWristYawLink 32 RElbowRollLink RFinger11Link 33 RWristYawLink RFinger12Link 34 RFinger11Link RFinger13Link 35 RFinger12Link RFinger21Link 36 RWristYawLink RFinger22Link 37 RFinger21Link RFinger23Link 38 RFinger22Link RThumb1Link 39 RWristYawLink RThumb2Link 40 RThumb1Link ------------------------------------------- name index parent It seems this dae file works! Then I write another xml file including the previous dae file to define a manipulator (see naoleftarm.xml). After that, I would like to create a IK solver for this: with the command: sudo openrave.py --database inversekinematics --robot=/home/gausslee/IKfastNao/naoleftarm.xml --iktype=translationdirection5d --iktests=100 I got print out: [xmlreaders-core.cpp:2386] failed to create iksolver naoIKsolver [robotmanipulator.cpp:950] manipulator leftarm gripper dof 8 is also part of arm dof! excluding from gripper... [robotmanipulator.cpp:950] manipulator leftarm gripper dof 9 is also part of arm dof! excluding from gripper... [robotmanipulator.cpp:950] manipulator leftarm gripper dof 10 is also part of arm dof! excluding from gripper... [robotmanipulator.cpp:950] manipulator leftarm gripper dof 11 is also part of arm dof! excluding from gripper... [robotmanipulator.cpp:950] manipulator leftarm gripper dof 12 is also part of arm dof! excluding from gripper... openravepy.databases.inversekinematics: generate, Generating inverse kinematics for manip leftarm: TranslationDirection5D [8, 9, 10, 11, 12] (this might take up to 10 min) openravepy.databases.inversekinematics: generate, creating ik file /home/gausslee/.openrave/kinematics.8f7479ec831af8cf958c7b052ffce9e7/ikfast61.TranslationDirection5D.8_9_10_11_12.cpp /usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py:1122: RuntimeWarning: invalid value encountered in divide axisangle /= angle openravepy.ikfast: forwardKinematicsChain, moved translation [0, 0, 1119/20000] to right end openravepy.ikfast: forwardKinematicsChain, moved translation [0, 0, 0] to left end openravepy.ikfast: forwardKinematicsChain, moved translation on intersecting axis [0, 0, 0] to left openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, 1, 49/500],[0, -1, 0, 1/10]] openravepy.ikfast: generateIkSolver, [[cos(j8), -sin(j8), 0, 0],[sin(j8), cos(j8), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]] openravepy.ikfast: generateIkSolver, [[cos(j9), -sin(j9), 0, 0],[sin(j9), cos(j9), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[0, 0, 1, 21/200],[0, 1, 0, 3/200],[-1, 0, 0, 0]] openravepy.ikfast: generateIkSolver, [[cos(j10), -sin(j10), 0, 0],[sin(j10), cos(j10), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]] openravepy.ikfast: generateIkSolver, [[cos(j11), -sin(j11), 0, 0],[sin(j11), cos(j11), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[0, 0, 1, 0],[0, 1, 0, 0],[-1, 0, 0, 0]] openravepy.ikfast: generateIkSolver, [[cos(j12), -sin(j12), 0, 0],[sin(j12), cos(j12), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 1119/20000]] openravepy.ikfast: solveFullIK_TranslationDirection5D, ikfast translation direction 5d: [j8, j9, j10, j11, j12] openravepy.ikfast: solveLiWoernleHiller, attempting li/woernle/hiller general ik method openravepy.ikfast: solveLiWoernleHiller, special structure in equations detected, try to solve through elimination openravepy.ikfast: solveAllEquations, [] [j8] openravepy.ikfast: solveLiWoernleHiller, 'failed to find a variable to solve' openravepy.ikfast: solveAllEquations, [] [j9] openravepy.ikfast: solveLiWoernleHiller, 'failed to find a variable to solve' openravepy.ikfast: solveLiWoernleHiller, try to solve first two variables pairwise openravepy.ikfast: solvePairVariablesHalfAngle, multiplying all determinant coefficients for solving htj8 openravepy.ikfast: solveAllEquations, [j8] [j9] openravepy.ikfast: solveSingleVariable, j9 solution: equations used for atan2: [3*cj8*px*sin(j9)/100 - 21*cj8*px*cos(j9)/100 + pp + 3*py*sj8*sin(j9)/100 - 21*py*sj8*cos(j9)/100 - 21*pz*sin(j9)/100 - 3*pz*cos(j9)/100 + 3247839/400000000, 3*cj8*r00*sin(j9)/200 - 21*cj8*r00*cos(j9)/200 + px*r00 + py*r01 + pz*r02 + 3*r01*sj8*sin(j9)/200 - 21*r01*sj8*cos(j9)/200 - 21*r02*sin(j9)/200 - 3*r02*cos(j9)/200] openravepy.ikfast: solveAllEquations, [j8, j9] [j10] openravepy.ikfast: solveFullIK_TranslationDirection5D, solved coupled variables: [j8, j9] openravepy.ikfast: solveAllEquations, [j8, j9] [j10, j11, j12] openravepy.ikfast: solveAllEquations, [j8, j9, j11] [j10, j12] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj11*sj12*sin(j10) + cj12*cos(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, cj11*sj12*cos(j10) + cj12*sin(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj11*sj12*sin(j10) + cj12*cos(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, cj11*sj12*cos(j10) + cj12*sin(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj12*cos(j10) + cj8*r01 - r00*sj8 - sj12*sin(j10), cj12*sin(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj12*cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj12*cos(j10) + cj8*r01 - r00*sj8 + sj12*sin(j10), cj12*sin(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - sj12*cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*r01 - r00*sj8 - sin(j10), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*r01 - r00*sj8 + sin(j10), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 - 1119*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 + 1119*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, -cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, -cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, -cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, -cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*r01 - r00*sj8 + sin(j10), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*r01 - r00*sj8 - sin(j10), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 - 1119*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 + 1119*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) - cj11*sj10*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj10*cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) - cj11*sj10*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj10*cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) - cj11*sj10*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj10*cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8 - sj10*sin(j12), cj10*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8 + sj10*sin(j12), -cj10*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [-cj11*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [-cj11*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj11*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj11*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11] [j10, j12] openravepy.ikfast: solvePairVariablesHalfAngle, multiplying all determinant coefficients for solving htj10 openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8 - sj10*sin(j12), cj10*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11] [j10, j12] openravepy.ikfast: solvePairVariablesHalfAngle, multiplying all determinant coefficients for solving htj10 openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8 + sj10*sin(j12), -cj10*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: writeIkSolver, generating cpp code... openravepy.databases.inversekinematics: save, inversekinematics generation is done, compiled shared object: /home/gausslee/.openrave/kinematics.8f7479ec831af8cf958c7b052ffce9e7/ikfast61.TranslationDirection5D.i686.8_9_10_11_12.so openravepy.databases.inversekinematics: RunFromParser, testing the success rate of robot /home/gausslee/IKfastNao/naoleftarm.xml [xmlreaders-core.cpp:2386] failed to create iksolver naoIKsolver [robotmanipulator.cpp:950] manipulator leftarm gripper dof 8 is also part of arm dof! excluding from gripper... [robotmanipulator.cpp:950] manipulator leftarm gripper dof 9 is also part of arm dof! excluding from gripper... [robotmanipulator.cpp:950] manipulator leftarm gripper dof 10 is also part of arm dof! excluding from gripper... [robotmanipulator.cpp:950] manipulator leftarm gripper dof 11 is also part of arm dof! excluding from gripper... [robotmanipulator.cpp:950] manipulator leftarm gripper dof 12 is also part of arm dof! excluding from gripper... [ikfastmodule.cpp:928] FindIKSolution: No ik solution found, i = 0 Joint Val: 0 0 0 0 0 Transform: 1442840583 0 0 1 0.16095 0.113 0.12 raw ik command: 0 0 1 0.16095 0 0 0 0.113 0 0 0 0.12 [ikfastmodule.cpp:983] FindIKSolutions: No ik solution found for, i = 0 Joint Val: 0 0 0 0 0 Transform: 1442840583 0 0 1 0.16095 0.113 0.12 openravepy.databases.inversekinematics: testik, success rate: 0.990000, wrong solutions: 0.000000, no solutions: 0.010000, missing solution: 0.040000 It seems it could not find a IK solver. It is an arm with 5 dof. Why it cannot find an IK solver? Had I done something wrong? I need your help! Thank you so much! Cheers, Gauss |
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Gauss,
This thread might help you: http://openrave-users-list.185357.n3.nabble.com/Compiler-errors-when-using-ikfast-td4026357.html - Fabien ------------------------------------------------------------------------------ Flow-based real-time traffic analytics software. Cisco certified tool. Monitor traffic, SLAs, QoS, Medianet, WAAS etc. with NetFlow Analyzer Customize your own dashboards, set traffic alerts and generate reports. Network behavioral analysis & security monitoring. All-in-one tool. http://pubads.g.doubleclick.net/gampad/clk?id=126839071&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
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Hi, Fabien,
Thanks for you reply. I checked the link and I did similar stuff as another guy did. 1. I use command sudo openrave.py --database inversekinematics --robot=/home/gausslee/IKfastNao/naoleftarm1.xml --iktype=translationdirection5d --iktests=100 outputs are: openravepy.databases.inversekinematics: generate, Generating inverse kinematics for manip leftarm: TranslationDirection5D [8, 9, 10, 11, 12] (this might take up to 10 min) openravepy.databases.inversekinematics: generate, creating ik file /home/gausslee/.openrave/kinematics.8f7479ec831af8cf958c7b052ffce9e7/ikfast61.TranslationDirection5D.8_9_10_11_12.cpp /usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py:1122: RuntimeWarning: invalid value encountered in divide axisangle /= angle openravepy.ikfast: forwardKinematicsChain, moved translation [0, 0, 1119/20000] to right end openravepy.ikfast: forwardKinematicsChain, moved translation [0, 0, 0] to left end openravepy.ikfast: forwardKinematicsChain, moved translation on intersecting axis [0, 0, 0] to left openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, 1, 49/500],[0, -1, 0, 1/10]] openravepy.ikfast: generateIkSolver, [[cos(j8), -sin(j8), 0, 0],[sin(j8), cos(j8), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]] openravepy.ikfast: generateIkSolver, [[cos(j9), -sin(j9), 0, 0],[sin(j9), cos(j9), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[0, 0, 1, 21/200],[0, 1, 0, 3/200],[-1, 0, 0, 0]] openravepy.ikfast: generateIkSolver, [[cos(j10), -sin(j10), 0, 0],[sin(j10), cos(j10), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]] openravepy.ikfast: generateIkSolver, [[cos(j11), -sin(j11), 0, 0],[sin(j11), cos(j11), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[0, 0, 1, 0],[0, 1, 0, 0],[-1, 0, 0, 0]] openravepy.ikfast: generateIkSolver, [[cos(j12), -sin(j12), 0, 0],[sin(j12), cos(j12), 0, 0],[0, 0, 1, 0]] openravepy.ikfast: generateIkSolver, [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 1119/20000]] openravepy.ikfast: solveFullIK_TranslationDirection5D, ikfast translation direction 5d: [j8, j9, j10, j11, j12] openravepy.ikfast: solveLiWoernleHiller, attempting li/woernle/hiller general ik method openravepy.ikfast: solveLiWoernleHiller, special structure in equations detected, try to solve through elimination openravepy.ikfast: solveAllEquations, [] [j8] openravepy.ikfast: solveLiWoernleHiller, 'failed to find a variable to solve' openravepy.ikfast: solveAllEquations, [] [j9] openravepy.ikfast: solveLiWoernleHiller, 'failed to find a variable to solve' openravepy.ikfast: solveLiWoernleHiller, try to solve first two variables pairwise openravepy.ikfast: solvePairVariablesHalfAngle, multiplying all determinant coefficients for solving htj8 openravepy.ikfast: solveAllEquations, [j8] [j9] openravepy.ikfast: solveSingleVariable, j9 solution: equations used for atan2: [3*cj8*px*sin(j9)/100 - 21*cj8*px*cos(j9)/100 + pp + 3*py*sj8*sin(j9)/100 - 21*py*sj8*cos(j9)/100 - 21*pz*sin(j9)/100 - 3*pz*cos(j9)/100 + 3247839/400000000, 3*cj8*r00*sin(j9)/200 - 21*cj8*r00*cos(j9)/200 + px*r00 + py*r01 + pz*r02 + 3*r01*sj8*sin(j9)/200 - 21*r01*sj8*cos(j9)/200 - 21*r02*sin(j9)/200 - 3*r02*cos(j9)/200] openravepy.ikfast: solveAllEquations, [j8, j9] [j10] openravepy.ikfast: solveFullIK_TranslationDirection5D, solved coupled variables: [j8, j9] openravepy.ikfast: solveAllEquations, [j8, j9] [j10, j11, j12] openravepy.ikfast: solveAllEquations, [j8, j9, j11] [j10, j12] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj11*sj12*sin(j10) + cj12*cos(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, cj11*sj12*cos(j10) + cj12*sin(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj11*sj12*sin(j10) + cj12*cos(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, cj11*sj12*cos(j10) + cj12*sin(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj12*cos(j10) + cj8*r01 - r00*sj8 - sj12*sin(j10), cj12*sin(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj12*cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj12*cos(j10) + cj8*r01 - r00*sj8 + sj12*sin(j10), cj12*sin(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - sj12*cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, -cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*r01 - r00*sj8 - sin(j10), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*r01 - r00*sj8 + sin(j10), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 - 1119*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 + 1119*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, -cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, -cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, -cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sj11*sin(j10)/20000, cj11*sin(j10) + cj8*r01 - r00*sj8, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*sj11*cos(j10)/20000 - 3/200, -cj11*cos(j10) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*r01 - r00*sj8 + sin(j10), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*r01 - r00*sj8 - sin(j10), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j10)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 + 1119*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 - 1119*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j12] [j10] openravepy.ikfast: solveSingleVariable, j10 solution: equations used for atan2: [cj8*py - px*sj8 - 1119*sin(j10)/20000, -cj8*px*sj9 + cj9*pz - py*sj8*sj9 + 1119*cos(j10)/20000 - 3/200] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) - cj11*sj10*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj10*cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) - cj11*sj10*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj10*cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) - cj11*sj10*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj10*cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8 - sj10*sin(j12), cj10*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8 + sj10*sin(j12), -cj10*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + cos(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj11*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - cos(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sin(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [-cj11*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [-cj11*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj11*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj11*sin(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sj11*sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*r01 - r00*sj8 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 - cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 - sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8, cj8*cj9*r00 + cj9*r01*sj8 + r02*sj9 + sin(j12), -cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11] [j10, j12] openravepy.ikfast: solvePairVariablesHalfAngle, multiplying all determinant coefficients for solving htj10 openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8 - sj10*sin(j12), cj10*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: solveAllEquations, [j8, j9, j11] [j10, j12] openravepy.ikfast: solvePairVariablesHalfAngle, multiplying all determinant coefficients for solving htj10 openravepy.ikfast: solveAllEquations, [j8, j9, j11, j10] [j12] openravepy.ikfast: solveSingleVariable, j12 solution: equations used for atan2: [cj10*cos(j12) + cj8*r01 - r00*sj8 + sj10*sin(j12), -cj10*sin(j12) - cj8*r00*sj9 + cj9*r02 - r01*sj8*sj9 + sj10*cos(j12)] openravepy.ikfast: writeIkSolver, generating cpp code... openravepy.databases.inversekinematics: save, inversekinematics generation is done, compiled shared object: /home/gausslee/.openrave/kinematics.8f7479ec831af8cf958c7b052ffce9e7/ikfast61.TranslationDirection5D.i686.8_9_10_11_12.so openravepy.databases.inversekinematics: RunFromParser, testing the success rate of robot /home/gausslee/IKfastNao/naoleftarm1.xml [ikfastmodule.cpp:928] FindIKSolution: No ik solution found, i = 0 Joint Val: 0 0 0 0 0 Transform: 1442840583 0 0 1 0.16095 0.113 0.12 raw ik command: 0 0 1 0.16095 0 0 0 0.113 0 0 0 0.12 [ikfastmodule.cpp:983] FindIKSolutions: No ik solution found for, i = 0 Joint Val: 0 0 0 0 0 Transform: 1442840583 0 0 1 0.16095 0.113 0.12 [ikfastmodule.cpp:928] FindIKSolution: No ik solution found, i = 25 Joint Val: -1.463828318599424 -2.110707192935337 0 0.8102313499364886 0 Transform: 1442840583 -0.9942843756522415 5.551115123125783e-17 0.1067641341173717 -0.02267960128137254 -0.05369331219639015 0.07611582558906954 raw ik command: -0.9942843756522415 5.551115123125783e-17 0.1067641341173717 -0.02267960128137254 0 0 0 -0.05369331219639015 0 0 0 0.07611582558906954 [ikfastmodule.cpp:983] FindIKSolutions: No ik solution found for, i = 25 Joint Val: -1.463828318599424 -2.110707192935337 0 0.8102313499364886 0 Transform: 1442840583 -0.9942843756522415 5.551115123125783e-17 0.1067641341173717 -0.02267960128137254 -0.05369331219639015 0.07611582558906954 openravepy.databases.inversekinematics: testik, success rate: 0.980000, wrong solutions: 0.000000, no solutions: 0.020000, missing solution: 0.080000 It seems it generated IK solver. 2. Four files are automatically generated: ikfast61.TranslationDirection5D.8_9_10_11_12.cpp ikfast61.TranslationDirection5D.8_9_10_11_12.pp ikfast61.TranslationDirection5D.i686.8_9_10_11_12.so ikfast.h 3. I compiled the cpp file for testing by using the command: sudo g++ -lstdc++ -o IK ikfast61.TranslationDirection5D.8_9_10_11_12.cpp 4. I tested the cpp file: ./IK 1 0 0 0.1 0 1 0 0.0 0 0 1 0.0 Failed to get ik solution It seems it cannot find solution for this. I am using tranlationdirection5d for my nao robot's arm with 5 dofs. Why it cannot get solutions? How do I set the rotation matrix? in the test, I just set it to 1 0 0 0 1 0 0 0 1, the identity rotation matrix. |
Re: IK problem about left arm of NAO robot
Administrator
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dear gauss, x=0.1 y=0 z=0all you've proven with "./IK 1 0 0 0.1 0 1 0 0.0 0 0 1 0.0" is that there's no IK solution when the robot hand is at http://www.openrave.org/docs/latest_stable/tutorials/openravepy_examples/#inverse-kinematics-transform6d 2014-02-28 7:02 GMT+09:00 Gausslee <[hidden email]>: Hi, Fabien, ------------------------------------------------------------------------------ Flow-based real-time traffic analytics software. Cisco certified tool. Monitor traffic, SLAs, QoS, Medianet, WAAS etc. with NetFlow Analyzer Customize your own dashboards, set traffic alerts and generate reports. Network behavioral analysis & security monitoring. All-in-one tool. http://pubads.g.doubleclick.net/gampad/clk?id=126839071&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
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In reply to this post by Gausslee
On 27/02/14 23:02, Gausslee wrote:
> Hi, Fabien, > > Thanks for you reply. I checked the link and I did similar stuff as another > guy did. > > 1. I use command > > sudo openrave.py --database inversekinematics > --robot=/home/gausslee/IKfastNao/naoleftarm1.xml > --iktype=translationdirection5d --iktests=100 The easiest way to test your solver is: openrave.py --database inversekinematics --robot=/home/gausslee/IKfastNao/naoleftarm1.xml --iktype=translationdirection5d --iktests=100 --manip=<your_manipulator> --show - Fabien ------------------------------------------------------------------------------ Flow-based real-time traffic analytics software. Cisco certified tool. Monitor traffic, SLAs, QoS, Medianet, WAAS etc. with NetFlow Analyzer Customize your own dashboards, set traffic alerts and generate reports. Network behavioral analysis & security monitoring. All-in-one tool. http://pubads.g.doubleclick.net/gampad/clk?id=126839071&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
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In reply to this post by Rosen Diankov
Thanks a lot! Rosen. I finally got it to work following the approach in python like below:
with robot: # lock environment and save robot state target=[0.1044, 0.04, 0.02]#-(random.rand(3)-0.1) print target direction =[0.37866608 ,0.34968892 ,0.3211107]#np.random.rand(3)-0.1#[0.1, 0.2, 0.1] direction /= np.linalg.norm(direction) print direction sols = ikmodel.manip.FindIKSolutions(IkParameterization(Ray(target,direction),IkParameterization.Type.TranslationDirection5D),IkFilterOptions.CheckEnvCollisions) I still have one more question which is "how to set up the direction in 5D IK model". In the above code, direction is composed of three members. What do they mean? In my understanding, it means the coordinator values (x, y, z) in the end-effector coordinator. You can set this to express the orientation? But 5D only can control two dimensions in the orientation, how does openrave do it? Cheers, Gauss |
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