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How to use OpenRAVE's IK with a 5DoF manipulator?

asked 2011-05-05 00:06:05 -0500

updated 2011-05-05 00:09:03 -0500

After successfully converting my URDF file to COLLADA, I can start the IK service like this:

roscd katana_description/collada
rosrun orrosplanning ik_openrave.py --scene="katana6m90a.robot.xml"

The files to reproduce have been added to the katana_description package.

Now, when I make a call to the GetPositionIK service (the ROS version, of type kinematics_msgs/GetPositionIK), I get the following error message:

...
ValueError: number of joints to solve for is not equal to required joints 5!=6

Of course, it is impossible to solve 6DoF IK with a 5DoF arm. Is it possible to use one of the other IK types that OpenRAVE offers to move my gripper into a grasping position?

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answered 2011-05-05 19:23:44 -0500

Excellent question. 5D IK support is new, so thanks for warning us about it. Just added it (jsk-ros-pkg r1300)

First, you should use the orrosplanning/IK service which gives you the ability to select the ik type. The GetPositionIK service is just there for compatibility reasons with the commonly used ROS manipulation. messages.

The orrosplanning/test/testarmik.py will show you how to call the IK service.

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answered 2011-05-06 15:24:29 -0500

bad formatting:

roscd orrosplanning
svn up
roslaunch orrosplanning testarmik5d.launch
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answered 2011-05-05 19:26:10 -0500

The 5D position and direction are extracted from the pose position and pose's Z direction (3rd column)

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answered 2011-05-06 15:23:46 -0500

we added a launchfile example for 5D IK with the katana arm:

roscd orrosplanning svn up roslaunch orrosplanning testarmik5d.launch

let us know if there are nay problems.

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answered 2011-05-05 19:25:34 -0500

I forgot to mention that you should set the IK service 'iktype' field to 'TranslationDirection5D'

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Asked: 2011-05-05 00:06:05 -0500

Seen: 1,066 times

Last updated: May 06 '11