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Hi everyone,
I have two 7 DOF arms and want to generate the inverse kinematics database for both of them. The problem is that for the two robots openrave is giving the same hash. This are the two .dae files of my robots: left_arm: https://gist.github.com/fsuarez6/7487632d3743e0ffafca right_arm: https://gist.github.com/fsuarez6/3527e32119569305fe69 These are the .robot.xml files: left_arm.robot.xml <Robot name="left_arm" file="left_arm.dae"> <Manipulator name="left_arm"> <base>left_arm_mount</base> <effector>left_gripper</effector> </Manipulator> </Robot> right_arm.robot.xml <Robot name="right_arm" file="right_arm.dae"> <Manipulator name="right_arm"> <base>right_arm_mount</base> <effector>right_gripper</effector> </Manipulator> </Robot> When I run this two commands: $ openrave.py --database inversekinematics --robot=right_arm.robot.xml --manipname=right_arm --freejoint=right_w1 $ openrave.py --database inversekinematics --robot=left_arm.robot.xml --manipname=left_arm --freejoint=left_w1 The result is the same: openravepy.databases.inversekinematics: generate, creating ik file /home/fsuarez/.openrave/kinematics.2fa3c51a706f72bc3f74fcb7a0557996/ikfast61.Transform6D.0_1_2_3_4_6_f5.cpp So, the 2nd command will override the 1st one. Has anyone run into the same problem? Thanks in advance |
I guess that's because they are the exact same robot, except the names.
Geometry is the same, and they use the same arm. Are you running into troubles using IK for one arm after generating Ik for the other? Cheers, Bahram 2014/07/02 21:05 , fsuarez6 <[hidden email]>: > Hi everyone, > > I have two 7 DOF arms and want to generate the inverse kinematics database > for both of them. > > The problem is that for the two robots openrave is giving the same hash. > > This are the two .dae files of my robots: > left_arm: https://gist.github.com/fsuarez6/7487632d3743e0ffafca > right_arm: https://gist.github.com/fsuarez6/3527e32119569305fe69 > > These are the .robot.xml files: > > *left_arm.robot.xml* > <Robot name="baxter_left_arm" file="baxter_arm.left.dae"> > <Manipulator name="left_arm"> > <base>left_arm_mount</base> > <effector>left_gripper</effector> > </Manipulator> > </Robot> > > *right_arm.robot.xml* > <Robot name="right_arm" file="baxter_arm.left.dae"> > <Manipulator name="right_arm"> > <base>right_arm_mount</base> > <effector>right_gripper</effector> > </Manipulator> > </Robot> > > When I run this two commands: > > $ openrave.py --database inversekinematics --robot=right_arm.robot.xml > --manipname=right_arm --freejoint=right_w1 > $ openrave.py --database inversekinematics --robot=left_arm.robot.xml > --manipname=left_arm --freejoint=left_w1 > > The result is the same: > > openravepy.databases.inversekinematics: generate, creating ik file > /home/fsuarez/.openrave/kinematics.2fa3c51a706f72bc3f74fcb7a0557996/ikfast61.Transform6D.0_1_2_3_4_6_f5.cpp > > So, the 2nd command will override the 1st one. Has anyone run into the same > problem? > > Thanks in advance > > > > -- > View this message in context: http://openrave-users-list.185357.n3.nabble.com/Inverse-Kinematics-Database-Repeated-Hash-tp4027058.html > Sent from the OpenRAVE Users List mailing list archive at Nabble.com. > > ------------------------------------------------------------------------------ > Open source business process management suite built on Java and Eclipse > Turn processes into business applications with Bonita BPM Community Edition > Quickly connect people, data, and systems into organized workflows > Winner of BOSSIE, CODIE, OW2 and Gartner awards > http://p.sf.net/sfu/Bonitasoft > _______________________________________________ > Openrave-users mailing list > [hidden email] > https://lists.sourceforge.net/lists/listinfo/openrave-users ------------------------------------------------------------------------------ Open source business process management suite built on Java and Eclipse Turn processes into business applications with Bonita BPM Community Edition Quickly connect people, data, and systems into organized workflows Winner of BOSSIE, CODIE, OW2 and Gartner awards http://p.sf.net/sfu/Bonitasoft _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
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