cannot solve error with ikfast

asked 2018-05-02 10:19:17 -0600

pravin1 gravatar image

updated 2018-05-02 10:25:35 -0600

gvdhoorn gravatar image

Hi all,

i am trying to find ik solution with following command.

python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=igus_new.dae --iktype=translationdirection5d --baselink=1 --eelink=6 --savefile=ikfast61.cpp

Then i get the following error:

WARNING: CannotSolveError: reduced equations are zero
INFO: found joints [j2, j3, j4] to have same orientation, adding more equations
INFO: attempting kohli/osvatic general ik method
WARNING: CannotSolveError: Kohli/Osvatic method requires 3 unknown variables
INFO: attempting kohli/osvatic general ik method
WARNING: CannotSolveError: need 8 or less equations of one variable, currently have 12
Traceback (most recent call last):
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 9521, in <module>
    chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2281, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2803, in solveFullIK_TranslationDirection5D
    raise self.CannotSolveError('raghavan roth equations too complex')
__main__.CannotSolveError: CannotSolveError: raghavan roth equations too complex
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Comments

I'm having the same problem. Did you already find a solution to it?

prex gravatar imageprex ( 2018-06-15 11:54:49 -0600 )edit