katana 6dof found 3 consecutive non-intersecting axes ??

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katana 6dof found 3 consecutive non-intersecting axes ??


i am trying to get the transform6d from this urdf

<robot name="katana_450_6m90b_6dof">
  <link name="katana_base_link" />
  <link name="katana_motor1_pan_link" />
  <link name="katana_motor2_lift_link" />
  <link name="katana_motor3_lift_link" />
  <link name="katana_motor4_lift_link" />
  <link name="katana_motor5_wrist_roll_link" />
  <link name="katana_motor6_wrist_pitch_link" />
  <link name="katana_gripper_tool_frame" />
  <joint name="katana_motor1_pan_joint" type="revolute">
    <parent link="katana_base_link"/>
    <child link="katana_motor1_pan_link"/>
    <origin xyz="0 0 0.2015" rpy="0 0 0"/>
    <axis xyz="0 0 1" />
    <limit effort="1.5" lower="-3.025528" upper="2.891097" velocity="2.208932"/>
  <joint name="katana_motor2_lift_joint" type="revolute">
    <parent link="katana_motor1_pan_link"/>
    <child link="katana_motor2_lift_link"/>
    <origin xyz="0 0 0" rpy="1.57 0 0"/>
    <axis xyz="0 0 1" />
    <limit effort="0.6" lower="-0.135228" upper="2.168572" velocity="1.190799"/>

  <joint name="katana_motor3_lift_joint" type="revolute">
    <parent link="katana_motor2_lift_link"/>
    <child link="katana_motor3_lift_link"/>
    <origin xyz="0.19 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1" />
    <limit effort="0.25" lower="-2.221804" upper="2.054223" velocity="1.190799"/>

  <joint name="katana_motor4_lift_joint" type="revolute">
    <parent link="katana_motor3_lift_link"/>
    <child link="katana_motor4_lift_link"/>
    <origin rpy="0 0 0" xyz="0.139 0 0"/>
    <axis xyz="0 0 1" />
    <limit effort="0.1" lower="-2.033309" upper="1.876133" velocity="2.208932"/>

  <joint name="katana_motor5_wrist_roll_joint" type="revolute">
    <parent link="katana_motor4_lift_link"/>
    <child link="katana_motor5_wrist_roll_link"/>
    <origin rpy="1.57 0 1.57" xyz="0.1473 0 0"/>
    <axis xyz="0 0 1" />
    <limit effort="0.1" lower="-2.993240" upper="2.870985" velocity="2.208932"/>

  <joint name="katana_motor6_wrist_pitch_joint" type="revolute">
    <parent link="katana_motor5_wrist_roll_link"/>
    <child link="katana_motor6_wrist_pitch_link"/>
    <origin rpy="0 1.57 -1.57" xyz="0.10 0 -0.05"/>
    <axis xyz="0 0 1" />
    <limit effort="0.1" lower="-2.0" upper="2.0" velocity="1"/>
  <joint name="katana_gripper_tool_frame_joint" type="fixed">
    <parent link="katana_motor6_wrist_pitch_link"/>
    <child link="katana_gripper_tool_frame"/>
    <origin rpy="0 0 0" xyz="0.11 0 0"/>

the program reaches the point :

INFO: ikfast 6d: [j0, j1, j2, j3, j4, j5]
INFO: found 3 consecutive non-intersecting axes links[2:7], vars=[j1, j2, j3]

and then nothing happens. what should i do?

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Re: katana 6dof found 3 consecutive non-intersecting axes ??

It can take a long time to finish. It might not be hanging up, it might just still be working. On my robot arm I had to lower the precision in order for it to finish (like in this post http://openrave-users-list.185357.n3.nabble.com/ikfast-Transform6D-failing-on-our-robot-model-td3665281.html). If it is taking longer than 10 minutes to solve try setting your precision down to 5 or 6 (I think "precision" means the number of significant figures the solver uses, the default is 8 but you'd never really need it that accurate in real life).