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I'm on the same project as Stefan, but I have far less experience with ROS and OpenRAVE. From Rosen's response, I now know that the COLLADA model that was generated does in fact include the mimic tags properly, and when I run

openrave-robot.py newarmdae.dae --info joints

I get the same output that Rosen's second response displays. 5 DOF arm, one fixed joint, two mimic joints.

IKfast apparently doesn't support mimic joints. I unfortunately do not have experience generating inverse kinematics with anything besides IKfast, and I'm not sure what other methods there are to choose from. Here are the steps I am using to generate IK after I generate the COLLADA model and create the OpenRAVE scene description; would anybody tell me what I need to change or what different steps I need to follow to generate IK with the mimic tags included?

roscd openrave/bin

export PYTHONPATH=$PYTHONPATH:`./openrave-config --python-dir`

./openrave.py --database inversekinematics --robot=/home/myusername/rosext/.../urdf/newarm.xml --iktype=TranslationDirection5D