X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=ikfast%2Fcreate_ikfast.sh;h=3f6047b35f44b18a59aa2d2b02096e6ae8254de9;hb=43fda7f8df3e62ccf77205b9a7f3909e08e8427e;hp=acd9d971c4f1dc69395298b471d829c0db214eae;hpb=bc995d87c13021ac6d43fcfc88b536dc7a0f462d;p=wt_open_manipulator.git

diff --git a/ikfast/create_ikfast.sh b/ikfast/create_ikfast.sh
index acd9d97..3f6047b 100755
--- a/ikfast/create_ikfast.sh
+++ b/ikfast/create_ikfast.sh
@@ -1,7 +1,13 @@
 #!/bin/sh
 
+# urdf to dae
+rosrun xacro xacro -o $(rospack find wt_open_manipulator)/urdf/open_manipulator.urdf $(rospack find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro
+rosrun collada_urdf urdf_to_collada $(rospack find wt_open_manipulator)/urdf/open_manipulator.urdf open_manipulator.dae
+
 export HOME=/tmp
-python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=open_manipulator.dae --iktype=translationzaxisangle4d --baselink=0 --eelink=5
+#python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=open_manipulator.dae --iktype=translationzaxisangle4d --baselink=0 --eelink=5
+# https://answers.ros.org/question/263925/generating-an-ikfast-solution-for-4-dof-arm/
+openrave0.9.py --database inversekinematics --robot=open_manipulator.xml --iktype=translationzaxisangle4d
 
 # test
 openrave.py --database inversekinematics --robot=open_manipulator.xml --usecached --iktests=100 --iktype=TranslationZAxisAngle4D