ikfast for selfmade arm

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Might be similar to the default open manipulator configuration. Did openrave have a valid solution for any of the Translation*AxisAngle4D? Did the test succeed?

Btw you should now have some points ;)

@Humpelstilzchen, If I am correct, the open manipulator doesn't have joint1 which can rotate around the z-axis. Yes, for all 3 Translation*AxisAngle4D, the test are success with such output,

openravepy.databases.inversekinematics: testik, success rate: 0.989000, wrong solutions: 0.000000, no solutions: 0.011000, missing solution: 0.022000

@Humpelstilzchen, Sorry, I don't understand "have some points",

I have four files available in the output directory:

ikfast0x10000049.TranslationZAxisAngle4D.0_1_2_3.cpp  ikfast0x10000049.TranslationZAxisAngle4D.0_1_2_3.pp  ikfast0x10000049.TranslationZAxisAngle4D.x86_64.0_1_2_3.so  ikfast.h

points on answers.ros.org. The first axis on openmanipulator is rotating about upwards axis which is z in my coordinate system. Does your generated *ikfast_moveit_plugin.cpp have code in "case IKP_TranslationZAxisAngle4D"? (also X any Y)

@Humpelstilzchen, apologize, you are correct, the first joint of the open manipulator is rotating about the z-axis. Yes, it has such case, and I also cherry-picked this MR, so it loos like this for Y Axis case:

    case IKP_TranslationYAxisAngle4D:
case IKP_TranslationYAxisAngleXNorm4D:
  // For **TranslationYAxisAngleXNorm4D** - end effector origin reaches desired 3D translation, manipulator
  // direction needs to be orthogonal to x axis and be rotated at a certain angle starting from the y axis (defined
  // in the manipulator base link’s coordinate system)
  pose_frame.M.GetRPY(roll, pitch, yaw);
  ComputeIk(trans, &roll, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
  return solutions.GetNumSolutions();

Hi，I am using iktype=translationxaxisangle4d，but I always get the error：CannotSolveError（some equations are not consistent with the ik，double check if using correct IK type），do you know why，my friend

Can I use your description of the arm to raise a new question? | | | | ---> joint4 y axis rotate | | | | ---> joint3 y axis rotate | | | | ---> joint2 y axis rotate + - - - - + | | ---> joint1 z axis rotate + - - - - +