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IK with KDL

Hi, everyone! I have a similar problem and I solved it like described in this topic link text. Program works fine, but when I try calculate joints values more different than inital values, IK solver not found. Source files: leg_kinematics.cpp hp_chainiksolverpos_nr_jl.cpp

For example. Inital frame of end-effector : 0.14208; -0.14555; -0.11145 Inital joints : 0, 0, 0

Desired frame : 0.16574, -0.1868, -0.08033

(delta_twist from hp_chainiksolverpos_nr_jl)

[ INFO] [1386694221.094697005]: delta_twist.vel 1: 0.023664 delta_twist.vel 2: -0.041252 delta_twist.vel 3: 0.031120  
[ INFO] [1386694221.094781119]: delta_twist.vel 1: 0.003682 delta_twist.vel 2: -0.006420 delta_twist.vel 3: -0.009216  
[ INFO] [1386694221.094833633]: 
Joint 1: -0.000007 
Joint 2: 0.245227 
Joint 3: 0.211637

Desired frame : 0.098897, -0.25073, 0.053264 ( joints: 0.46, 0.73, 0.84)

[ INFO] [1386694869.786644209]: 
delta_twist.vel 1: -0.043179 delta_twist.vel 2: -0.105182 delta_twist.vel 3: 0.164714  
[ INFO] [1386694869.786831916]: 
delta_twist.vel 1: 0.024520 delta_twist.vel 2: -0.157306 delta_twist.vel 3: 0.083648  
[ INFO] [1386694869.786888482]: 
delta_twist.vel 1: -0.016815 delta_twist.vel 2: -0.191048 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.786932308]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.786992199]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787067596]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787110975]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787151938]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787192158]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787235519]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714 
[ERROR] [1386694869.787273642]: IK not found

I can not understand what the problem is...

IK with KDL

Hi, everyone! I have a similar problem and I solved it like described in this topic link text. Program works fine, but when I try calculate joints values more different than inital values, IK solver not found. Source files: leg_kinematics.cpp hp_chainiksolverpos_nr_jl.cpp

For example. Inital frame of end-effector : 0.14208; -0.14555; -0.11145 Inital joints : 0, 0, 0

Desired frame : 0.16574, -0.1868, -0.08033

(delta_twist from hp_chainiksolverpos_nr_jl)

[ INFO] [1386694221.094697005]: delta_twist.vel 1: 0.023664 delta_twist.vel 2: -0.041252 delta_twist.vel 3: 0.031120  
[ INFO] [1386694221.094781119]: delta_twist.vel 1: 0.003682 delta_twist.vel 2: -0.006420 delta_twist.vel 3: -0.009216  
[ INFO] [1386694221.094833633]: 
Joint 1: -0.000007 
Joint 2: 0.245227 
Joint 3: 0.211637

Desired frame : 0.098897, -0.25073, 0.053264 ( joints: 0.46, 0.73, 0.84)

[ INFO] [1386694869.786644209]: 
delta_twist.vel 1: -0.043179 delta_twist.vel 2: -0.105182 delta_twist.vel 3: 0.164714  
[ INFO] [1386694869.786831916]: 
delta_twist.vel 1: 0.024520 delta_twist.vel 2: -0.157306 delta_twist.vel 3: 0.083648  
[ INFO] [1386694869.786888482]: 
delta_twist.vel 1: -0.016815 delta_twist.vel 2: -0.191048 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.786932308]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.786992199]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787067596]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787110975]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787151938]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787192158]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787235519]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714 
[ERROR] [1386694869.787273642]: IK not found

I can not understand what the problem is...

URDF file

IK with KDL

Hi, everyone! I have a similar problem and I solved it like described in this topic link textros-users. Program works fine, but when I try calculate joints values more different than inital values, IK solver not found. Source files: leg_kinematics.cpp hp_chainiksolverpos_nr_jl.cpp

For example. Inital frame of end-effector : 0.14208; -0.14555; -0.11145 Inital joints : 0, 0, 0

Desired frame : 0.16574, -0.1868, -0.08033

(delta_twist from hp_chainiksolverpos_nr_jl)

[ INFO] [1386694221.094697005]: delta_twist.vel 1: 0.023664 delta_twist.vel 2: -0.041252 delta_twist.vel 3: 0.031120  
[ INFO] [1386694221.094781119]: delta_twist.vel 1: 0.003682 delta_twist.vel 2: -0.006420 delta_twist.vel 3: -0.009216  
[ INFO] [1386694221.094833633]: 
Joint 1: -0.000007 
Joint 2: 0.245227 
Joint 3: 0.211637

Desired frame : 0.098897, -0.25073, 0.053264 ( joints: 0.46, 0.73, 0.84)

[ INFO] [1386694869.786644209]: 
delta_twist.vel 1: -0.043179 delta_twist.vel 2: -0.105182 delta_twist.vel 3: 0.164714  
[ INFO] [1386694869.786831916]: 
delta_twist.vel 1: 0.024520 delta_twist.vel 2: -0.157306 delta_twist.vel 3: 0.083648  
[ INFO] [1386694869.786888482]: 
delta_twist.vel 1: -0.016815 delta_twist.vel 2: -0.191048 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.786932308]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.786992199]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787067596]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787110975]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787151938]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787192158]: 
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714  
[ INFO] [1386694869.787235519]: 
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714 
[ERROR] [1386694869.787273642]: IK not found

I can not understand what the problem is...

URDF file