Why does it require 3 free joints with 6 DOFs robot and iktype Translation3D ?

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Why does it require 3 free joints with 6 DOFs robot and iktype Translation3D ?

Peter
Hello

      There is 6 dofs robot test6dof.robot.xml that I type the command to generate cpp file as below,

     ./openrave.py --database inversekinematics --robot=test6dof.robot.xml --iktype=Translation3D

And I want to get the solutions by the cpp file generated,

     ./test6dofTranslation3d 1 0 0 0.1 0 1 0 0 0 0 1 0

then there is a message,

     Usage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...

     Returns the ik solutions given the transformation of the end effector specified by
     a 3x3 rotation R (rXX), and a 3x1 translation (tX).
     There are 3 free parameters that have to be specified.



I think there could be something wrong with my robot test6dof.robot.xml, so I have also tried default 6 dofs robot puma.robot.xml. But I also get the same message that it requires 3 free joints.

Could it get the solutions without any free joints with 6 dofs robot and iktype Translation3D?

Thanks a lot for your help !


test6dof.xml
test6dofTranslation3d.test6dofTranslation3d
puma.xml
pumaarm.zae
pumagripper.zae