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 | 1 | initial version |
After enabling the DEBUG messages, I found most of the IKFast solutions are out of joint limit. Does this suggest the quality of my IK model is poor?
getPositionIK
Found 8 solutions from IKFast
Sol 0: 1.690987e+00 -2.232526e+00 -1.822946e+00 -1.513597e-01 9.193312e-01 1.663007e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 1: 1.690987e+00 -2.232526e+00 -1.822946e+00 2.990233e+00 -9.193312e-01 -1.478586e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 2: 1.690987e+00 2.344302e+00 1.587356e+00 -2.973212e+00 7.972867e-01 -1.689018e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 3: 1.690987e+00 2.344302e+00 1.587356e+00 1.683806e-01 -7.972867e-01 1.452574e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 4: -1.450605e+00 9.004999e-01 -2.046337e+00 1.317894e-01 1.149199e+00 -1.625000e+00
Not in limits! 2 value -2.04634 has limit: 1 being -1.9188 to 1.9188
Sol 5: -1.450605e+00 9.004999e-01 -2.046337e+00 -3.009803e+00 -1.149199e+00 1.516592e+00
Not in limits! 2 value -2.04634 has limit: 1 being -1.9188 to 1.9188
Sol 6: -1.450605e+00 -1.029561e+00 1.810746e+00 2.971706e+00 7.883345e-01 1.691140e+00
Not in limits! 1 value -1.02956 has limit: 1 being -0.138 to 3.05
Sol 7: -1.450605e+00 -1.029561e+00 1.810746e+00 -1.698869e-01 -7.883345e-01 -1.450452e+00
Not in limits! 1 value -1.02956 has limit: 1 being -0.138 to 3.05
No solution whatsoever
Found 0 joint solutions out of 10 iterations
| | 2 | No.2 Revision |
After enabling the DEBUG messages, I found most of the IKFast solutions are out of joint limit. Does this suggest the quality of my IK model is poor?
getPositionIK
Found 8 solutions from IKFast
Sol 0: 1.690987e+00 -2.232526e+00 -1.822946e+00 -1.513597e-01 9.193312e-01 1.663007e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 1: 1.690987e+00 -2.232526e+00 -1.822946e+00 2.990233e+00 -9.193312e-01 -1.478586e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 2: 1.690987e+00 2.344302e+00 1.587356e+00 -2.973212e+00 7.972867e-01 -1.689018e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 3: 1.690987e+00 2.344302e+00 1.587356e+00 1.683806e-01 -7.972867e-01 1.452574e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 4: -1.450605e+00 9.004999e-01 -2.046337e+00 1.317894e-01 1.149199e+00 -1.625000e+00
Not in limits! 2 value -2.04634 has limit: 1 being -1.9188 to 1.9188
Sol 5: -1.450605e+00 9.004999e-01 -2.046337e+00 -3.009803e+00 -1.149199e+00 1.516592e+00
Not in limits! 2 value -2.04634 has limit: 1 being -1.9188 to 1.9188
Sol 6: -1.450605e+00 -1.029561e+00 1.810746e+00 2.971706e+00 7.883345e-01 1.691140e+00
Not in limits! 1 value -1.02956 has limit: 1 being -0.138 to 3.05
... ... ...
Sol 7: -1.450605e+00 -1.029561e+00 1.810746e+00 -1.698869e-01 -7.883345e-01 -1.450452e+00
Not in limits! 1 value -1.02956 has limit: 1 being -0.138 to 3.05
No solution whatsoever
Found 0 joint solutions out of 10 iterations
| | 3 | No.3 Revision |
After enabling the DEBUG messages, I found most of the IKFast solutions are out of joint limit. Does this suggest the quality of my IK model is poor?poor?
getPositionIK
Found 8 solutions from IKFast
Sol 0: 1.690987e+00 -2.232526e+00 -1.822946e+00 -1.513597e-01 9.193312e-01 1.663007e+00
Not in limits! 0 value 1.69099 has limit: 1 being -4 to 1.3
Sol 1: 1.690987e+00 -2.232526e+00 -1.822946e+00 2.990233e+00 -9.193312e-01 -1.478586e+00
... ... ...
Sol 7: -1.450605e+00 -1.029561e+00 1.810746e+00 -1.698869e-01 -7.883345e-01 -1.450452e+00
Not in limits! 1 value -1.02956 has limit: 1 being -0.138 to 3.05
No solution whatsoever
Found 0 joint solutions out of 10 iterations
Yes, this is because the automatically generated IKFast does not deal with joint_limit correctly. After resolving the IKFast/joint_limit issue, joint solutions becames 19 solutions out of 50 iterations.
[ INFO] [1456935580.587935731]: Found 4 joint solutions out of 10 iterations
[ INFO] [1456935580.589146536]: Found 4 joint solutions out of 10 iterations
[ INFO] [1456935580.590355616]: Found 4 joint solutions out of 10 iterations
[ INFO] [1456935580.591487295]: Found 3 joint solutions out of 10 iterations
[ INFO] [1456935580.592600095]: Found 4 joint solutions out of 10 iterations
[ INFO] [1456935580.592628198]: CartID: ID201 JointPoses count: 19
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