Problem with passive spherical joints

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Problem with passive spherical joints

lily89
Hi,
hydraulic_3rps.rar
  I think the support for passive spherical joints has been done for openrave 0.8.2 so no need to use 3 intersecting hinge joints but why do i still see the following when i give EQUAL angles using robot.SetDOFValues() for the 3 slider joints
1)The spherical joints are broken(without physics engine).Why do they break?  



2)And with physics engine turned on the ABOVE happens momentarily and then its back to its original orientation,so effectively the triangular plate does not move at all.  



What changes are needed to move the triangular plate as expected and make it stay there?

3)Also when generating ik using Transformation3D i get the following error:

Traceback (most recent call last):
  File "/usr/bin/openrave.py", line 126, in <module>
    database.run(args=args)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 934, in run
    InverseKinematicsModel.RunFromParser(*args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 906, in RunFromParser
    model = DatabaseGenerator.RunFromParser(Model=Model,parser=parser,robotatts=robotatts,args=args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/__init__.py", line 224, in RunFromParser
    options,model = DatabaseGenerator.InitializeFromParser(Model,parser,orgenv,args,robotatts,defaultviewer,allowkinbody)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/__init__.py", line 205, in InitializeFromParser
    model = Model(robot=robot)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 902, in <lambda>
    Model = lambda robot: InverseKinematicsModel(robot=robot,iktype=iktype,forceikfast=True)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 207, in __init__
    for link in self.robot.GetChain(self.manip.GetBase().GetIndex(),self.manip.GetEndEffector().GetIndex(),returnjoints=False)[1:]:
AttributeError: 'NoneType' object has no attribute 'GetBase'

Help appreciated.
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