Creating ikfast cpp with MoveIt! and mimic joint

asked 2015-02-16 16:54:11 -0500

evenmarbles gravatar image

updated 2015-02-16 19:46:47 -0500

I am working with the nao_moveit_config, 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 <>/ --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.

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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.

evenmarbles gravatar image evenmarbles  ( 2015-02-16 19:46:24 -0500 )edit