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Hello everybody,
For my thesis, I need an arm with several DoFs (>7). So I created an arm using some xml as example. But I face a problem, I have an error when I try to generate the ikmodel. >> freejoints = [0,3,5] ikmodel = databases.inversekinematics.InverseKinematicsModel(robot,iktype=IkParameterization.Type.Transform6D,freejoints=freejoints) if not ikmodel.load(): ikmodel.autogenerate() Traceback (most recent call last): File "<stdin>", line 1, in <module> File "/usr/lib/python2.7/dist-packages/spyderlib/widgets/externalshell/sitecustomize.py", line 487, in runfile execfile(filename, namespace) File "/home/skynet/Documents/Dev/Python/2014_BayesFilterIK/Cas_difficile_comp_inversekinematics.py", line 113, in <module> ikmodel.autogenerate() File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 599, in autogenerate self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 838, in generate objectfiles = compiler.compile(sources=[platformsourcefilename],macros=[('IKFAST_CLIBRARY',1),('IKFAST_NO_MAIN',1)],extra_postargs=compile_flags,output_dir=output_dir) File "/usr/lib/python2.7/distutils/ccompiler.py", line 574, in compile self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts) File "/usr/lib/python2.7/distutils/unixccompiler.py", line 122, in _compile raise CompileError, msg distutils.errors.CompileError: command 'cc' failed with exit status 1 >>> stargs, pp_opts) File "/usr/lib/python2.7/distutils/unixccompiler.py", line 122, in _compile raise CompileError, msg distutils.errors.CompileError: command 'cc' failed with exit status 1 If I change the freejoints, it is possible to generate an ikmodel but the results are really strange if I want to reach a target with the arm and it doesn't take into account the collisions. I don't know how to proceed in order to resolve this problem. Maybe it is coming from my xml but I am not sure and I really need some help. Thank you. Test_arm.xml |
Hi,
I don't know about the freejoints, but I see that your robot consists of cylinders. ODE doesn't support cylinder-cylinder collision by default: http://ode-wiki.org/wiki/index.php?title=Manual:_Collision_Detection#fn_1-3 You need to compile ODE again with "--with-libccd", which uses libccd for cylinder-cylinder collision. Maybe that resolves the problem already :) Cheers, Bahram 2015/03/17 10:19 , kpax [hidden email]: Hello everybody, For my thesis, I need an arm with several DoFs (>7). So I created an arm using some xml as example. ------------------------------------------------------------------------------ Dive into the World of Parallel Programming The Go Parallel Website, sponsored by Intel and developed in partnership with Slashdot Media, is your hub for all things parallel software development, from weekly thought leadership blogs to news, videos, case studies, tutorials and more. Take a look and join the conversation now. http://goparallel.sourceforge.net/ _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
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