Creating ikfast cpp with MoveIt! and mimic joint
I am working with the naomoveitconfig, and I am trying to create the cpp file for the right_leg chain. I have been following the MoveIt! ikfast tutorial instructions.
The right leg chain contains a mimic joint for LHipYawPitch mimicking RHipYawPitch. I am able to create the cpp file for the left leg just fine with the command:
python <path.to.openrave>/ikfast.py --robot=nao.dae --iktype=transform6d --baselink=1 --eelink=31 --savefile=ikfast61_leg_left.cpp
However when I try to create the right leg the same way as the left leg, the I get the error
CannotSolveError: 'need 6 joints'
and using iktype translationdirection5d the error is
ValueError: No nonzero pivot found; inversion failed.
Can anybody explain where I am going wrong? How can I create the ikfast cpp file for a chain containing a mimic link?
Any help would be appreciated. Thanks.
Asked by evenmarbles on 2015-02-16 17:54:11 UTC
Comments
As a side note: In order to make sure that it is indeed an issue with the mimic joint in the right leg chain, I removed the mimic joint from the *.dae. With the changes I was able to create the right leg chain in the same fashion as the left leg chain.
Asked by evenmarbles on 2015-02-16 20:46:24 UTC