Problem generating the IK Solver

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Problem generating the IK Solver

shehroze37
Hi Im trying to generate an IK solver for my Quadrotor but unfortunately when I try to generate the IK solver on Ubuntu 14.04 using ROS indigo I get the following error





This is the command I am running  :
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=quadrotore.dae --iktype=transform6d --baselink=1 --eelink=6 --savefile=ikfast61_Quadrotore.cpp



could not import scipy.optimize.leastsq
/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py:1123: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
INFO: [[0, 0, 1, -21/100],[0, 1, 0, 0],[-1, 0, 0, 6/125]]
Traceback (most recent call last):
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6382, in <module>
    chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 1610, in generateIkSolver
    while not self.has(LinksRaw[0],*solvejointvars):
IndexError: list index out of range


These are the link numbers

could not import scipy.optimize.leastsq
name                       index parents
----------------------------------------
base_link                  0            
camera_link                1            
camera_depth_frame         2            
camera_depth_optical_frame 3            
camera_rgb_frame           4            
camera_rgb_optical_frame   5            
sonar_link                 6            
----------------------------------------
name                       index parents



I would really appreciate any help with this

Cheers


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