create_ikfast.sh:

link to updated command

diff --git a/ikfast/create_ikfast.sh b/ikfast/create_ikfast.sh
index 9b8d0ed99c9c8718c85c32bc09777994e0a393f0..3f6047b35f44b18a59aa2d2b02096e6ae8254de9 100755 (executable)
--- a/ikfast/create_ikfast.sh
+++ b/ikfast/create_ikfast.sh
@@ -6,6 +6,7 @@ rosrun collada_urdf urdf_to_collada $(rospack find wt_open_manipulator)/urdf/ope
 
 export HOME=/tmp
 #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