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To generate IKFast solver C++ output file use the same generated collada file in following command -
python
openrave-config --python-dir/openravepy/_openravepy_/ikfast.py --robot=<myrobot_name>.dae --iktype=transform6d --baselink=1 --eelink=8 --savefile=<ikfast_output_path>
Whereas this results into segmentation fault and to generate the C++ output file regardless the segfault you will have to change the last block of code in ikfast.py file
solvefn=IKFastSolver.GetSolvers()[options.iktype.lower()]
if options.robot is not None:
try:
env=openravepy.Environment()
kinbody=env.ReadRobotXMLFile(options.robot)
env.Add(kinbody)
solver = IKFastSolver(kinbody,kinbody)
solver.maxcasedepth = options.maxcasedepth
chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
code=solver.writeIkSolver(chaintree,lang=options.lang)
finally:
openravepy.RaveDestroy()
if len(code) > 0:
with open(options.savefile,'w') as f:
f.write(code)
to
solvefn=IKFastSolver.GetSolvers()[options.iktype.lower()]
if options.robot is not None:
try:
env=openravepy.Environment()
kinbody=env.ReadRobotXMLFile(options.robot)
env.Add(kinbody)
solver = IKFastSolver(kinbody,kinbody)
solver.maxcasedepth = options.maxcasedepth
chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
code=solver.writeIkSolver(chaintree,lang=options.lang)
if len(code) > 0:
with open(options.savefile,'w') as f:
f.write(code)
finally:
openravepy.RaveDestroy()
this bypasses the segfault and generates the desired ik solver file.