Recipie to create TranslationDirection5D cpp solver with 4 DOF robot

[kakRobot]

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

[baxelrod]

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





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[kakRobot]

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






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[baxelrod]

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
[phone]
[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






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[kakRobot]

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

[Bahram Maleki-Fard]

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.
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[kakRobot]

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....

[baxelrod]

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....



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[basix86]

you can try:
openrave.py --database inversekinematics --robot=../robot/myRobot.xml --iktype=Lookat3D --iktests=100

for many info use:
openrave.py --help