ik autogenerate failing for the 6 DoF Mico arm
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Hi again,
I've been struggling with autogenerating the IK of the Mico model in OpenRAVE. Even though I've read every single forum entry that looks relevant, followed all tips and suggestions provided by Rosen and others, and played with the axes, the end effector orientation, decimal precision of the axes and anchor definitions, and pretty much everything else that could be played with, I haven't been able to get it working. Here I have a better looking model of the robot: http://tekin.mericli.com/share/mico/mico_with_rings.tar.gz The "robots" directory includes the URDF, .dae, and xml files. The mico_rounded_decimals.robot.xml file has reduced decimal precision for the axes and anchor definitions, whereas the mico.robot.xml file has the original values. When I try running openrave.py --database inversekinematics --robot=mico.robot.xml the ikfast says "found 3 consecutive non-intersecting axes links[0:5], vars=[j0, j1, j2]" and fails after some time. Specifying various --precision values has no effect on the result. While playing with the axes, I noticed that when I change the axis orientation of j1, which is the Arm_Joint, from this  to this  this time ikfast says "found 3 consecutive non-intersecting axes links[4:9], vars=[j2, j3, j4]" and proceeds with the calculations, finding a (of course wrong) solution in a couple of minutes. Interestingly, though, even this doesn't work for the mico_rounded_decimals.robot.xml file. I thought this observation might give you guys a clue about what I could possibly be doing wrong/right and guide me in a more informed manner. As a side note, I found a rough model of the Jaco model on the OpenRAVE forum (http://openrave-users-list.185357.n3.nabble.com/Compiler-errors-when-using-ikfast-td4026357.html), for which an IK solution can be generated. I've tried comparing and contrasting my Mico model with this Jaco model, and interestingly (and expectedly) their relative joint orientations are identical, yet ikfast works for one and doesn't work for the other. As another side note, I was able to get the IK for the robot working under arm_navigation and V-Rep, so I'm wondering what's going on with OpenRAVE. Your help will be much appreciated! Best, Tekin |
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Hi Rosen, Find attached a model that we use for the Mico arm (I'm working with Tekin). Let me know if this helps. ksatyaki, if you also have a model, feel free to share it.On Fri, Jul 11, 2014 at 1:54 AM, Rosen Diankov <[hidden email]> wrote:
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