RobCoGen unexpected number of elements in matrix + J

[Nickick-ICRS]

Hi! I've hit a problem trying to generate the RobCoGen files. At first I got everything to generate fine, but I was using 0.5.2, which caused issues as the tpl namespace didn't exist.

Switching to the expected 0.4ad.0 and readjusting config parameters (including the fix in issue #166 ), I can generate everything except the Jacobians. This issue persists whether I try to generate full Jacobians from e.g. my world frame to my end effector, or whether I split them up (the way I have the transforms split up - world_x_a and a_x_end_effector etc.)

The exception I'm getting after running 0, 1, 4 (or 0, 1, 5, 6, 7) is:

Exception in thread "main" java.lang.RuntimeException: Unexpected number of elements in row 5 of the matrix + J. Expected 5, found 7
	at iit.dsl.maxdsl.utils.MaximaConversionUtils.getMatrix(Unknown Source)
	at iit.dsl.generator.maxima.Converter.getJacobianText(Unknown Source)
	at iit.dsl.generator.cpp.kinematics.Jacobians.localClassesDefinitions(Unknown Source)
	at iit.dsl.generator.cpp.kinematics.Jacobians.sourceFile(Unknown Source)
	at iit.dsl.generator.cpp.Generator.generateJacobiansFiles(Unknown Source)
	at iit.robcogen.KinDSLWrapper.generate(Unknown Source)
	at iit.robcogen.KinDSLWrapper.generate(Unknown Source)
	at iit.robcogen.Generator.main(Unknown Source)

Any ideas what is causing this and how to fix it? My robot is kind of a 2 branched tree if that helps.

[csufangyu]

I get the same problem,have you solved it?

[JuliusSustarevas]

I have a similar error, but its in matrix + trigsimp.

[markusgft]

How many joints does the robot have?

Am 27.07.2021 um 17:39 schrieb Julius Sustarevas @.***>:

 I have a similar error, but its in matrix + trigsimp.

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[JuliusSustarevas]

More than 6 :) was using wrong description, my bad. Ended up generating fine.

On Thu, Jul 29, 2021, 06:31 Markus Giftthaler @.***> wrote:

How many joints does the robot have?

Am 27.07.2021 um 17:39 schrieb Julius Sustarevas @.***>:

 I have a similar error, but its in matrix + trigsimp.

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