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Created December 4, 2012 00:16
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IKFast 7DOF Issues
INFO: moved translation [0, 0, -1/10000] to right end
INFO: moved translation [0, 0, 41/1000] to left end
INFO: moved translation on intersecting axis [0, 0, 0] to left
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 91/1000]]
INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
INFO: [[0, -1, 0, 0],[0, 0, 1, 21/10000],[-1, 0, 0, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, -1, -603/5000],[0, 1, 0, 0],[1, 0, 0, -1/500]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, 1, 0],[20637527*250425907520675729**(1/2)/250425907520675729, -500000000*250425907520675729**(1/2)/250425907520675729, 0, 0],[500000000*250425907520675729**(1/2)/250425907520675729, 20637527*250425907520675729**(1/2)/250425907520675729, 0, 7/200]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[12068358125000000*15834939366744868940209613990378321**(1/2)/15834939366744868940209613990378321, -770564531115639*15834939366744868940209613990378321**(1/2)/15834939366744868940209613990378321, 200000000*40372851885653129**(1/2)/40372851885653129, 494435940787*40372851885653129**(1/2)/403728518856531290000],[-125000000000000000*15834939366744868940209613990378321**(1/2)/15834939366744868940209613990378321, 7981248600000000*15834939366744868940209613990378321**(1/2)/15834939366744868940209613990378321, 19309373*40372851885653129**(1/2)/40372851885653129, 801090563*40372851885653129**(1/2)/5046606485706641125],[-39906243*392217508230375049**(1/2)/392217508230375049, -625000000*392217508230375049**(1/2)/392217508230375049, 0, 0]]
INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 1569325*2472821797241**(1/2)/2472821797241, -100204*2472821797241**(1/2)/2472821797241, 0],[0, -100204*2472821797241**(1/2)/2472821797241, -1569325*2472821797241**(1/2)/2472821797241, 0],[-1, 0, 0, 0]]
INFO: [[cos(j5), -sin(j5), 0, 0],[sin(j5), cos(j5), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, -1/10000]]
INFO: ikfast 6d: [j0, j1, j2, j3, j4, j5]
INFO: found 3 consecutive intersecting axes links[4:9], rotvars=[j2, j3, j4], translationvars=[j0, j1, j5]
INFO: [] [j0, j1, j5]
INFO: [j1] [j0, j5]
INFO: j0 solution: equations used for atan2: [px*sin(j0) - py*cos(j0) + 1/10000, px*cos(j0) + py*sin(j0) - 389*sj1/2500, -px + 389*sj1*cos(j0)/2500 - sin(j0)/10000, -py + 389*sj1*sin(j0)/2500 + cos(j0)/10000]
INFO: j0 solution: equations used for atan2: [px*sin(j0) - py*cos(j0) + 1/10000, px*cos(j0) + py*sin(j0) - 389*sj1/2500, -px + 389*sj1*cos(j0)/2500 - sin(j0)/10000, -py + 389*sj1*sin(j0)/2500 + cos(j0)/10000]
INFO: j0 solution: equations used for atan2: [px*sin(j0) - py*cos(j0) + 1/10000, px*cos(j0) + py*sin(j0) - 389*sj1/2500, -px + 389*sj1*cos(j0)/2500 - sin(j0)/10000, -py + 389*sj1*sin(j0)/2500 + cos(j0)/10000]
INFO: j0 solution: equations used for atan2: [px*sin(j0) - py*cos(j0) + 1/10000, px*cos(j0) + py*sin(j0) - 389*sj1/2500, -px + 389*sj1*cos(j0)/2500 - sin(j0)/10000, -py + 389*sj1*sin(j0)/2500 + cos(j0)/10000]
INFO: [j1, j0] [j5]
WARNING: 'failed to find a variable to solve'
INFO: found 3 consecutive intersecting axes links[6:11], rotvars=[j3, j4, j5], translationvars=[j0, j1, j2]
INFO: [] [j0, j1, j2]
INFO: [j1] [j0, j2]
INFO: j0 solution: equations used for atan2: [px*sin(j0) - py*cos(j0) + 1/10000, px*cos(j0) + py*sin(j0) - 389*sj1/2500, cj1*px*cos(j0) + cj1*py*sin(j0) - pz*sj1, -cj1*pz - px*sj1*cos(j0) - py*sj1*sin(j0) + 389/2500]
INFO: j0 solution: equations used for atan2: [px*sin(j0) - py*cos(j0) + 1/10000, px*cos(j0) + py*sin(j0) - 389*sj1/2500, cj1*px*cos(j0) + cj1*py*sin(j0) - pz*sj1, -cj1*pz - px*sj1*cos(j0) - py*sj1*sin(j0) + 389/2500]
INFO: [j1, j0] [j2]
WARNING: 'failed to find a variable to solve'
INFO: found 3 consecutive non-intersecting axes links[0:5], vars=[j0, j1, j2]
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'need 8 or less equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'need 8 or less equations of one variable'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj1, sj1, cj2, sj2), number of symbol coeffs are 0
INFO: finished with 12 equations
INFO: solving simultaneously for symbols: (cj3, sj3, cj4, sj4, cj5, sj5)
WARNING: failed with leftvar htj3: 'equations are not linearly independent'
WARNING: failed with leftvar htj4: 'equations are not linearly independent'
WARNING: failed with leftvar htj5: 'equations are not linearly independent'
WARNING: 'failed to solve dialytically'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj0, sj0, cj1, sj1), number of symbol coeffs are 0
INFO: finished with 12 equations
INFO: solving simultaneously for symbols: (cj3, sj3, cj4, sj4, cj5, sj5)
WARNING: failed with leftvar htj3: 'equations are not linearly independent'
WARNING: failed with leftvar htj4: 'equations are not linearly independent'
WARNING: failed with leftvar htj5: 'equations are not linearly independent'
WARNING: 'failed to solve dialytically'
WARNING: '6D general method failed, raghavan roth equations might be too complex'
INFO: found 3 consecutive non-intersecting axes links[2:7], vars=[j1, j2, j3]
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'need 8 or less equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'need 8 or less equations of one variable'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj2, sj2, cj3, sj3), number of symbol coeffs are 0
INFO: finished with 12 equations
INFO: solving simultaneously for symbols: (cj0, sj0, cj4, sj4, cj5, sj5)
WARNING: failed with leftvar htj0: 'equations are not linearly independent'
WARNING: failed with leftvar htj4: 'equations are not linearly independent'
WARNING: failed with leftvar htj5: 'equations are not linearly independent'
WARNING: 'failed to solve dialytically'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj1, sj1, cj2, sj2), number of symbol coeffs are 0
INFO: finished with 12 equations
INFO: solving simultaneously for symbols: (cj0, sj0, cj4, sj4, cj5, sj5)
WARNING: failed with leftvar htj0: 'equations are not linearly independent'
WARNING: failed with leftvar htj4: 'equations are not linearly independent'
WARNING: failed with leftvar htj5: 'equations are not linearly independent'
WARNING: 'failed to solve dialytically'
WARNING: '6D general method failed, raghavan roth equations might be too complex'
INFO: found 3 consecutive non-intersecting axes links[4:9], vars=[j2, j3, j4]
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'need 8 or less equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'need 8 or less equations of one variable'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj3, sj3, cj4, sj4), number of symbol coeffs are 0
INFO: finished with 13 equations
WARNING: 'number of equations 5 less than 6'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj2, sj2, cj3, sj3), number of symbol coeffs are 0
INFO: finished with 13 equations
WARNING: 'number of equations 5 less than 6'
WARNING: '6D general method failed, raghavan roth equations might be too complex'
INFO: found 3 consecutive non-intersecting axes links[6:11], vars=[j3, j4, j5]
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'need 8 or less equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'need 8 or less equations of one variable'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj4, sj4, cj5, sj5), number of symbol coeffs are 0
INFO: finished with 12 equations
WARNING: 'number of equations 5 less than 6'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj3, sj3, cj4, sj4), number of symbol coeffs are 0
INFO: finished with 12 equations
WARNING: 'number of equations 5 less than 6'
WARNING: '6D general method failed, raghavan roth equations might be too complex'
Traceback (most recent call last):
File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py", line 6121, in <module>
chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py", line 1639, in generateIkSolver
chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py", line 2168, in solveFullIK_6D
raise self.CannotSolveError('cannot solve 6D mechanism!')
__main__.CannotSolveError: 'cannot solve 6D mechanism!'
bash: .: ../bin/test_ikfast: cannot execute binary file
bash: .: ../bin/test_ikfast: cannot execute binary file
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