I am trying to get ikfast to work, but I really am struggling to get it to work.
I have a 5DOF arm that does not seem to work with ikfast,
I tried several versions of openrave but it never works.
And the error messages are different each time.
The dae files can be found at
http://fwn06.housing.rug.nl/openrave The command I use is
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=smart_arm_robot_rounded.dae --iktype=translationdirection5d --baselink=2 --eelink=7 --savefile=ikfast_test.c
The my_robot.* files are a simplified version of the smart_arm version
The question is:what version of openrave on what platform should I use.
In some situations I get it to work with 3DOF transformations with a part of the chain.
And in all situations I can see a visualisation using
So I assume that my dae file is ok. Is that a correct assumption?
I tried the following scenarios:
- on (virtual) ubuntu 12.04 with openrave from the http://ppa.lauchpad.net/openrave repository
- the same, but with openrave from source using both latest_stable and master
- on ubuntu 14.04 with openrave from source using both versions.
- the same but now with updated versions of numpy and friends
- on current Debian testing, from source in both versions
Hopefully someone can tell me where to focus my efforts, I really have to get this working!
I am having the same issues as you and cannot generate an IKFast solution for my 5DOF robot.
I took my URDF and converted it to collada, then ran ikfast.py. no matter what I do I cannot generate a solution.
Right now I am looking at doing two things,
1.) building my robot directly in openrave and then generating the IKFast solution for it
2. Changing the kinematics of my robot to see if it helps (changing joint offsets,etc)
It would be great to get feedback from this group on 5DOF robots.
Did you manage to find any solution? I am having trouble with the 5 dof system as well.
One thing that worked for me was to modify the URDF file to remove the STL or the meshes in the visual and collision tags, though keeping the joints origin and axes same. This is just a work around, but i would still like to solve the entire thing.