katana 5dof , rotation 3d problem

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katana 5dof , rotation 3d problem

tan77
Hi
i am trying to get an ikfast solution for the rotation3d using the katana_450_6m90a.urdf (it is available on ros)
in order to find the links i type the command:
alexandros@alexandros-Aspire-5920G:~/ros/uos-ros-pkg/katana_driver/katana_description/urdf$ openrave-robot.py my_robot.dae --info links
name                          index parents                      
-----------------------------------------------------------------
katana_base_link              0                                  
katana_motor1_pan_link        1     katana_base_link            
katana_motor2_lift_link       2     katana_motor1_pan_link      
katana_motor3_lift_link       3     katana_motor2_lift_link      
katana_motor4_lift_link       4     katana_motor3_lift_link      
katana_motor5_wrist_roll_link 5     katana_motor4_lift_link      
katana_gripper_link           6     katana_motor5_wrist_roll_link
katana_l_finger_link          7     katana_gripper_link          
katana_r_finger_link          8     katana_gripper_link          
katana_gripper_tool_frame     9     katana_motor5_wrist_roll_link
-----------------------------------------------------------------
name                          index parents  

i want to use the pan, the lift and the roll link so
i execute:

/ros/uos-ros-pkg/katana_driver/katana_description/urdf$ python /usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py --robot=my_robot.dae --iktype=rotation3d --baselink=0 --eelink=5 --savefile=output_ikfast61.cpp --freeindex=4 --freeindex=3

/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py:1122: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
INFO: moved translation [0, 0, -1473/10000] to right end
INFO: moved translation [0, 0, 0] to left end
INFO: moved translation on intersecting axis [0, 0, 0] to left
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 403/2000]]
INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 19/100],[0, 1, 0, 0],[0, 0, 1, 0]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 139/1000],[0, -1, 0, 0],[0, 0, -1, 0]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]]
INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 1, 0, 0],[-1, 0, 0, 0],[0, 0, 1, -1473/10000]]
INFO: ikfast rotation3d: [j0, j1, j2]
INFO: [j3, j4] [j0, j1, j2]
INFO: j0 solution: equations used for atan2: [-r02*sin(j0) + r12*cos(j0), -r01*sin(j0) + r11*cos(j0) + sj4, cj4 + r00*sin(j0) - r10*cos(j0)]
INFO: j0 solution: equations used for atan2: [-r02*sin(j0) + r12*cos(j0), -r01*sin(j0) + r11*cos(j0) + sj4, cj4 + r00*sin(j0) - r10*cos(j0)]
INFO: [j3, j4, j0] [j1, j2]
WARNING: 'solvePairVariablesHalfAngle: solve dialytically with 12 equations'
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 279
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 651
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 651
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 599
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 599
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 599
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 599
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 651
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 651
INFO: solving separated equations with linear terms
INFO: simplifying final equation to 647



it is stack there for a very long time (~hours) .
what should i do????
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Re: katana 5dof , rotation 3d problem

Aaron
Try adding --precision 5, that speeds things up sometimes.