added pick_and_place.py

[arm_ros_conn.git] / scripts / update_ik.sh

diff --git a/scripts/update_ik.sh b/scripts/update_ik.sh
new file mode 100644 (file)
index 0000000..1394fd9
--- /dev/null
+++ b/scripts/update_ik.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+rosrun collada_urdf urdf_to_collada urdf/arm.urdf /tmp/arm.dae
+python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=/tmp/arm.dae --iktype=translationdirection5d --baselink=2 --eelink=9
+mv ik.cpp ../arm_ikfast_arm_plugin/src/arm_arm_ikfast_solver.cpp