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parameters for HIRONX IK generation

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parameters for HIRONX IK generation

Takuro Sasaki
Dear all:

I started learning ikfast.

For the first step, I tried to generate right arm Transform6D IK for HIRONX.

I compared my result with ikfast60.Transform6D.3_4_5_6_7_8_f0.cpp from http://openrave.org/docs/latest_stable/ikfast/kawada-hironx/ ,
but these are different(return different output values for same input values).

Could you tell me actual comand which generated ikfast60.Transform6D.3_4_5_6_7_8_f0.cpp?

I'm using OpenRAVE 0.8.2 on Ubuntu 12.04 32bit.

what I did:
============================================

#openrave-robot.py kawada-hironx.zae --info=manipulators
name           base              end              arm-dof gripper-dof arm                 gripper
-----------------------------------------------------------------------------------------------------
rightarm       CHEST_JOINT0_Link RARM_JOINT5_Link 6       4           3,4,5,6,7,8         9,10,11,12
rightarm_torso WAIST             RARM_JOINT5_Link 7       4           0,3,4,5,6,7,8       9,10,11,12

#openrave-robot.py kawada-hironx.zae --info=links
name              index parents          
-----------------------------------------
WAIST             0                      
CHEST_JOINT0_Link 1     WAIST            
HEAD_JOINT0_Link  2     CHEST_JOINT0_Link
HEAD_JOINT1_Link  3     HEAD_JOINT0_Link
RARM_JOINT0_Link  4     CHEST_JOINT0_Link
RARM_JOINT1_Link  5     RARM_JOINT0_Link
RARM_JOINT2_Link  6     RARM_JOINT1_Link
RARM_JOINT3_Link  7     RARM_JOINT2_Link
RARM_JOINT4_Link  8     RARM_JOINT3_Link
RARM_JOINT5_Link  9     RARM_JOINT4_Link
RHAND_JOINT0_Link 10    RARM_JOINT5_Link
RHAND_JOINT1_Link 11    RHAND_JOINT0_Link
RHAND_JOINT2_Link 12    RARM_JOINT5_Link
RHAND_JOINT3_Link 13    RHAND_JOINT2_Link

#python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=kawada-hironx.zae --savefile=ik_rightarm_torso.cpp --baselink=0 --eelink=9 --freeindex=0 --iktype=transform6d

============================================


Best regards


Takuro Sasaki
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