IKfast with my manipulator

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IKfast with my manipulator

Krzysztof Trzciński
I have created (or rather adapted from GraspIt!) a model of IRp-6 manipulator.
When I run
python openrave.py --database inversekinematics --robot=robots/irp6birdhand.robot.xml --manip=arm

it runs for some time and outputs:
Generating inverse kinematics for manip arm : Transform6D [0, 1, 2, 3, 4, 5] (this might take ~10 min)
generating inverse kinematics file
/home/elmo/.openrave/kinematics.e14815e92f11e976451e21c90c022d01/ikfast13.Transform6D_0_1_2_3_4_5.cpp
moved translation  [-0.0950000000000000011102230246252, 0, 0] to right end
moved translation  [0, 0, 0.520000000000000017763568394003] to left end
moved translation on intersecting axis  [0, 0, 0] to left
Taking the inverse of the mechanism (sometimes intersecting joints are on the base)
rotvars:  [j0, j1, j2, j3, j4]  transvars:  [j5]  not 3 dims
failed to genreate ik solution

I tried looking through mailing list, documentation and code, but I couldn't find any hints on what I could have done
wrong. So my question is what might be wrong?
Also is there some specification what has to be done (what information has to be included in robot XML file etc.) to
make IKfast work?

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Re: IKfast with my manipulator

Rosen Diankov
Administrator
hi Krzysztof,

the first three or last three joint axes need to intersect at a common point.

rosen,

2010/10/17 Krzysztof Trzciński <[hidden email]>:

> I have created (or rather adapted from GraspIt!) a model of IRp-6 manipulator.
> When I run
> python openrave.py --database inversekinematics --robot=robots/irp6birdhand.robot.xml --manip=arm
>
> it runs for some time and outputs:
> Generating inverse kinematics for manip arm : Transform6D [0, 1, 2, 3, 4, 5] (this might take ~10 min)
> generating inverse kinematics file
> /home/elmo/.openrave/kinematics.e14815e92f11e976451e21c90c022d01/ikfast13.Transform6D_0_1_2_3_4_5.cpp
> moved translation  [-0.0950000000000000011102230246252, 0, 0] to right end
> moved translation  [0, 0, 0.520000000000000017763568394003] to left end
> moved translation on intersecting axis  [0, 0, 0] to left
> Taking the inverse of the mechanism (sometimes intersecting joints are on the base)
> rotvars:  [j0, j1, j2, j3, j4]  transvars:  [j5]  not 3 dims
> failed to genreate ik solution
>
> I tried looking through mailing list, documentation and code, but I couldn't find any hints on what I could have done
> wrong. So my question is what might be wrong?
> Also is there some specification what has to be done (what information has to be included in robot XML file etc.) to
> make IKfast work?
>
> ------------------------------------------------------------------------------
> Download new Adobe(R) Flash(R) Builder(TM) 4
> The new Adobe(R) Flex(R) 4 and Flash(R) Builder(TM) 4 (formerly
> Flex(R) Builder(TM)) enable the development of rich applications that run
> across multiple browsers and platforms. Download your free trials today!
> http://p.sf.net/sfu/adobe-dev2dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>

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Flex(R) Builder(TM)) enable the development of rich applications that run
across multiple browsers and platforms. Download your free trials today!
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