Hello,
what is the best way to "simulate" a joint so that I can use the Ik type TranslationDirection5D for a 4 dof robot? Should I add a dummy joint or do I have to add a real joint and tell the solver that it is a freeindex? What is the best procedure for this kind of problem? Any recommandations? Thanks in advance |
I did this by adding a dummy joint at the end-effector. In my case I had a 5DOF arm and added a 6th.
-Ben -----Original Message----- From: kakRobot [mailto:[hidden email]] Sent: Tuesday, November 11, 2014 4:29 AM To: [hidden email] Subject: [OpenRAVE-users] Recipie to create TranslationDirection5D cpp solver with 4 DOF robot Hello, what is the best way to "simulate" a joint so that I can use the Ik type TranslationDirection5D for a 4 dof robot? Should I add a dummy joint or do I have to add a real joint and tell the solver that it is a freeindex? What is the best procedure for this kind of problem? Any recommandations? Thanks in advance -- View this message in context: http://openrave-users-list.185357.n3.nabble.com/Recipie-to-create-TranslationDirection5D-cpp-solver-with-4-DOF-robot-tp4027155.html Sent from the OpenRAVE Users List mailing list archive at Nabble.com. ------------------------------------------------------------------------------ Comprehensive Server Monitoring with Site24x7. Monitor 10 servers for $9/Month. Get alerted through email, SMS, voice calls or mobile push notifications. Take corrective actions from your mobile device. http://pubads.g.doubleclick.net/gampad/clk?id=154624111&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users ------------------------------------------------------------------------------ Comprehensive Server Monitoring with Site24x7. Monitor 10 servers for $9/Month. Get alerted through email, SMS, voice calls or mobile push notifications. Take corrective actions from your mobile device. http://pubads.g.doubleclick.net/gampad/clk?id=154624111&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
Hello,
At this moment I haven't added a additional dummy joint because I not sure if this would be the right way to get the solver work properly. My link description looks like this:
|
I think the orientation of your dummy joint depends on the orientations of your other joints. How is your arm setup?
The dummy joint should be no different than your other joints. give it a body (probably a very small one that), and connect it the same as any other. And yes, it shouldn't be in the same direction as the previous joint. that is just redundant. Ben Axelrod Sr. Robotics Software Engineer iRobot Corporation 8 Crosby Drive, M/S 8-1 Bedford, MA 01730 (781) 430-3315 [hidden email] ________________________________________ From: kakRobot [[hidden email]] Sent: Wednesday, November 12, 2014 5:46 AM To: [hidden email] Subject: Re: [OpenRAVE-users] Recipie to create TranslationDirection5D cpp solver with 4 DOF robot Hello, At this moment I haven't added a additional dummy joint because I not sure if this would be the right way to get the solver work properly. My link description looks like this: name index parents ------------------- Box 0 Axis2 1 Box Axis3 2 Axis2 Axis4 3 Axis3 Axis5 4 Axis4 ------------------- Following your advice I would add a dummy joint that is connect to Axis5 is this right? How does it have to look like in my xml? I read that two adjacent joints should not have the same direction. Thanks -- View this message in context: http://openrave-users-list.185357.n3.nabble.com/Recipie-to-create-TranslationDirection5D-cpp-solver-with-4-DOF-robot-tp4027155.html Sent from the OpenRAVE Users List mailing list archive at Nabble.com. ------------------------------------------------------------------------------ Comprehensive Server Monitoring with Site24x7. Monitor 10 servers for $9/Month. Get alerted through email, SMS, voice calls or mobile push notifications. Take corrective actions from your mobile device. http://pubads.g.doubleclick.net/gampad/clk?id=154624111&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list Openrave-users@.sourceforge https://lists.sourceforge.net/lists/listinfo/openrave-users ------------------------------------------------------------------------------ Comprehensive Server Monitoring with Site24x7. Monitor 10 servers for $9/Month. Get alerted through email, SMS, voice calls or mobile push notifications. Take corrective actions from your mobile device. http://pubads.g.doubleclick.net/gampad/clk?id=154624111&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list Openrave-users@.sourceforge https://lists.sourceforge.net/lists/listinfo/openrave-users -- View this message in context: http://openrave-users-list.185357.n3.nabble.com/Recipie-to-create-TranslationDirection5D-cpp-solver-with-4-DOF-robot-tp4027155p4027157.html Sent from the OpenRAVE Users List mailing list archive at Nabble.com. ------------------------------------------------------------------------------ Comprehensive Server Monitoring with Site24x7. Monitor 10 servers for $9/Month. Get alerted through email, SMS, voice calls or mobile push notifications. Take corrective actions from your mobile device. http://pubads.g.doubleclick.net/gampad/clk?id=154624111&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users ------------------------------------------------------------------------------ Comprehensive Server Monitoring with Site24x7. Monitor 10 servers for $9/Month. Get alerted through email, SMS, voice calls or mobile push notifications. Take corrective actions from your mobile device. http://pubads.g.doubleclick.net/gampad/clk?id=154624111&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
Hello,
sorry for the delayed answer. I am working only a part of my time at this problem ![]() Here is the setup of my axis chain: MyRobot.xml what do you mean with probably a very small one. What mean small? A value near zero? What kind of object do I have to add (a Box, cylinder,. sphere,...) and how does it look like in my robot file? Thanks again for your help |
Doesn't matter what kind of object. You could for example add a Box with
<Extents>0.00001 0.00001 0.00001</Extents> For example, lets say you want to put the dummy joint between Axis3 and Axis4: <Body name="DummyLink" type="dynamic"> <offsetfrom>Axis4</offsetfrom> <Translation>0 0 0 </Translation> <Geom type="Box"> <Extents>0.00001 0.00001 0.00001</Extents> </Geom> </Body> <Joint name"jDummyLink" type="hinge"> <Body>Axis3</Body> <Body>DummyLink</Body> ... </Joint> <Joint name"jAxis4" type="hinge"> <Body>DummyLinkBody> <Body>Axis4</Body> ... </Joint> Cheers, Bahram 2014/11/14 13:17 , kakRobot <[hidden email]>: > Hello, > > sorry for the delayed answer. I am working only a part of my time at this > problem > Here is the setup of my axis chain: > > MyRobot.xml > <http://openrave-users-list.185357.n3.nabble.com/file/n4027159/MyRobot.xml> > > what do you mean with *probably a very small one*. What mean small? A value > near zero? What kind of object do I have to add (a Box, cylinder,. > sphere,...) and how does it look like in my robot file? > > Thanks again for your help > > > > -- > View this message in context: http://openrave-users-list.185357.n3.nabble.com/Recipie-to-create-TranslationDirection5D-cpp-solver-with-4-DOF-robot-tp4027155p4027159.html > Sent from the OpenRAVE Users List mailing list archive at Nabble.com. > > ------------------------------------------------------------------------------ > Comprehensive Server Monitoring with Site24x7. > Monitor 10 servers for $9/Month. > Get alerted through email, SMS, voice calls or mobile push notifications. > Take corrective actions from your mobile device. > http://pubads.g.doubleclick.net/gampad/clk?id=154624111&iu=/4140/ostg.clktrk > _______________________________________________ > Openrave-users mailing list > [hidden email] > https://lists.sourceforge.net/lists/listinfo/openrave-users ------------------------------------------------------------------------------ Comprehensive Server Monitoring with Site24x7. Monitor 10 servers for $9/Month. Get alerted through email, SMS, voice calls or mobile push notifications. Take corrective actions from your mobile device. http://pubads.g.doubleclick.net/gampad/clk?id=154624111&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
Hello,
I added a dummy joint as you suggested and I could create the cpp-Solver with the ikfast.py-Script. My next step is to validate the quality of the solver. Is it possible to test and vaidate the solver with openrave? Otherwise I will write a small program to chek the solver. thank you very much for all your help.... |
You can pass in --iktests=<num> when generating your ikfast file like so:
openrave.py --database inversekinematics --robot=robot.xml --manipname=end_of_arm --iktype=TranslationDirection5D --freeinc=0.01 --iktests=100 But I have never found it to be that useful. I think it might only work for the Transform6D type. So you should probably check it yourself. -----Original Message----- From: kakRobot [mailto:[hidden email]] Sent: Monday, November 24, 2014 7:50 AM To: [hidden email] Subject: Re: [OpenRAVE-users] Recipie to create TranslationDirection5D cpp solver with 4 DOF robot Hello, I added a dummy joint as you suggested and I could create the cpp-Solver with the ikfast.py-Script. My next step is to validate the quality of the solver. Is it possible to test and vaidate the solver with openrave? Otherwise I will write a small program to chek the solver. thank you very much for all your help.... -- View this message in context: http://openrave-users-list.185357.n3.nabble.com/Recipie-to-create-TranslationDirection5D-cpp-solver-with-4-DOF-robot-tp4027155p4027168.html Sent from the OpenRAVE Users List mailing list archive at Nabble.com. ------------------------------------------------------------------------------ Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration & more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users ------------------------------------------------------------------------------ Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration & more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
In reply to this post by kakRobot
you can try:
openrave.py --database inversekinematics --robot=../robot/myRobot.xml --iktype=Lookat3D --iktests=100 for many info use: openrave.py --help |
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