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cannot solve error with ikfast

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

cannot solve error with ikfast

Hi all,

i am trying to find ik solution with following command.

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

--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

complex