Ikfast fails to generate solution file for 3dof arm using .dae(genereated from .wrl)
Hi all
I've tried to use ikfast module(iktype=translation3d) for 3DoF simple arm. I have been following the instructions here: http://moveit.ros.org/wiki/Kinematics... and http://answers.ros.org/question/20504...
My openrave-version is 0.9.0 on ubuntu 12.04.
First, I generated .dae from .wrl. Here is terminal output.
export-collada -i GR001d_mod0810.wrl -o test0810.dae
omniORB: Warning: the local loop back interface (127.0.0.1)
is the only address available for this server.
Humanoid node
Joint nodeCHEST_P
Segment node CHEST_P_LINK
Joint nodeR_SHOULDER_P
Segment node R_SHOULDER_P_LINK
Joint nodeR_SHOULDER_R
Segment node R_SHOULDER_R_LINK
Joint nodeR_ELBOW_P
Segment node R_ELBOW_P_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
export-collada GR001d_mod0810.wrl was successfully exported to test0810.dae
Following is the joints and links information of the .dae.
~/openrave-0.9.0-src/python$ openrave-robot.py test0810.dae --info links
name index parents
-----------------------------------------
CHEST_P_LINK 0
R_SHOULDER_P_LINK 1 CHEST_P_LINK
R_SHOULDER_R_LINK 2 R_SHOULDER_P_LINK
R_ELBOW_P_LINK 3 R_SHOULDER_R_LINK
-----------------------------------------
name index parents
~/openrave-0.9.0-src/python$ openrave-robot.py test0810.dae --info joints
name joint_index dof_index parent_link child_link mimic
----------------------------------------------------------------------------
R_SHOULDER_P 0 0 CHEST_P_LINK R_SHOULDER_P_LINK
R_SHOULDER_R 1 1 R_SHOULDER_P_LINK R_SHOULDER_R_LINK
R_ELBOW_P 2 2 R_SHOULDER_R_LINK R_ELBOW_P_LINK
----------------------------------------------------------------------------
name joint_index dof_index parent_link child_link mimic
Next, I've tried to generate solution file using this .dae file.
However, terminal output 'failed to find a variable to solve'.
python ikfast.py --robot=test0810.dae --baselink=0 --eelink=3 --savefile=iktest.cpp --iktype=translation3d
~/openrave-0.9.0-src/python$ python ikfast.py --robot=test0810.dae --baselink=0 --eelink=3 --savefile=iktest.cpp --iktype=translation3d
[colladareader.cpp:3240] Target Node 'visual1/node_joint0_axis0' not found
[colladareader.cpp:3560] failed to find joint target 'kmodel1/jointsid1000' in _mapJointSids
[colladareader.cpp:3565] could not find openrave joint 'CHEST_P'!
[colladareader.cpp:2618] failed to find joint kmodel1/jointsid1000 in actuator CHEST_P
INFO: moved translation [0, 0, 1/100000] to right end
INFO: moved translation [0, 0, 1/40] to left end
INFO: [[1, 0, 0, -1/100],[0, 0, -1, -33/500],[0, 1, 0, 21/500]]
INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, 1, 1/100000],[-1, 0, 0, -1/125],[0, -1, 0, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 1, 0, 47/1000],[0, 0, 1, 0],[1, 0, 0, 9/1000]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 1/100000]]
INFO: ikfast translation3d: [j0, j1, j2]
INFO: [] [j0, j1, j2]
INFO: j0 solution: equations used for atan2: [-px*cos(j0) - py*sin(j0) + 901/100000, -pp + 2*px*sin(j0)/125 - 2*py*cos(j0)/125 + 11130901/5000000000]
INFO: [j1] [j0, j2]
INFO: j0 solution: equations used for atan2: [-px*cos(j0) - py*sin(j0) + 901/100000, -pp + 2*px*sin(j0)/125 - 2*py*cos(j0)/125 ...