openrave ikfast for yumi

Hello maintainer!I want to use ikfast instead of KDL algorithm to solve the kinematics of the manipulator.But when I follow the tutorial, the following prompt appears: 7a25713bb6ed03bd5d6656970f0324c 167969382760e05fe5e2ea62f3a0a18 f4eb9f9de7ef5ca0e22ee26e7d44027 Have you configured the ikfast kinematics algorithm for yumi?

Apr 25 '19 07:04 RYANZYC

Hi RYANZYC! Can you scroll up in your first picture, and upload those several lines that just go before this very first line in the first picture:

INFO: [[1, 0, 0, -3/100], [0, 0, 1, 17283/100000], [0, -1, 0, 0]]

We would like to see the kinematics matrices for joints j0 and j1. Thank you!

Apr 25 '19 13:04 tgn3000

嗨RYANZYC！你可以在你的第一张图片中向上滚动，然后在第一张图片中的第一行之前上传几行：

信息：[[1,0,0，-3 / 100]，[0,0,1,17283 / 100000]，[0，-1,0,0]]

我们希望看到关节j0和j1的运动学矩阵。谢谢！

I am sorry that my reply is late.I poured all the models into it, the configuration parameters are as follows： b9b086206501aa3e972264dba0fbfd3 ffea992e75a1ee7eafd54d747b91a1f 393b0de811f29dcb4a06c183d1e6307 cdfa167e8c99d97c3d0509263e84eb3 c90c37d488f9ffd4b71db96a320b5df 6804473d71ebd4056fb99292a7ec122

Apr 30 '19 13:04 RYANZYC

Hi RYANZYC! It seems to me that for your Yumi robot, no consecutive three joint axes (among the seven joints j0, j1, ..., j6) intersect at a point in 3D space, which would cause difficulties for IKFast to generate a solver. That said, I was wondering if you can try setting FREE_INDEX to a different number other than 5 (which refers to j5), that is, one number among 0, 1, 2, 3, 4, or 6. Please let us know. Also, it may be helpful for us to debug if you could share the dae you use. Thanks!

May 05 '19 06:05 tgn3000

Hi tgn3000 ! @tgn3000 .I will try to set different FREE_INDEX,do you have any suggestions for setting up FREE_INDEX?The file is too big for me to upload. I'll send you the xacro format file. In yumi/yumi_description/urdf/yumi.urdf.xacro, I change $(arg prefix) value to generate URDF file.

<xacro:yumi name="yumi" hardware_interface="VelocityJointInterface" parent="world"> <xacro:yumi_servo_gripper name="gripper_r" hardware_interface="EffortJointInterface" parent="yumi_link_7_r"> <xacro:yumi_servo_gripper name="gripper_l" hardware_interface="EffortJointInterface" parent="yumi_link_7_l"> Thank you!

May 07 '19 16:05 RYANZYC

Hi!tgn3000！ @tgn3000 I find urdf file can be uploaded . This is my urdf. yumi.zip

May 08 '19 01:05 RYANZYC

Usually FREE_INDEX=0 would be a good choice, because we can set some value for j0 (discretize [0, 2*pi] and choose different j0 values) and call an IK solver to solve for the rest of six consecutive joints (j1, j2, ..., j6). As for the file, the system on my machine is not compatible with ROS's tools, so I cannot open your urdf file. If convenient, could you please convert the urdf file into the COLLADA .dae file and send me? Thanks!

May 09 '19 11:05 tgn3000

Hi!tgn3000！ @tgn3000 I have sent it to your email [email protected]. Thank you!

May 09 '19 14:05 RYANZYC

Hello, when I use world as free_index, index = 0,BASE_LINK="1",EEF_LINK="8".The result are as follow: How should I do . Thank you!