ikfast/create_ikfast.sh

   1 #!/bin/sh
   2
   3 # urdf to dae
   4 rosrun xacro xacro -o $(rospack find wt_open_manipulator)/urdf/open_manipulator.urdf $(rospack find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro
   5 rosrun collada_urdf urdf_to_collada $(rospack find wt_open_manipulator)/urdf/open_manipulator.urdf open_manipulator.dae
   6
   7 export HOME=/tmp
   8 #python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=open_manipulator.dae --iktype=translationzaxisangle4d --baselink=0 --eelink=5
   9 # https://answers.ros.org/question/263925/generating-an-ikfast-solution-for-4-dof-arm/
  10 openrave0.9.py --database inversekinematics --robot=open_manipulator.xml --iktype=translationzaxisangle4d
  11
  12 # test
  13 openrave.py --database inversekinematics --robot=open_manipulator.xml --usecached --iktests=100 --iktype=TranslationZAxisAngle4D
  14 openrave.py --database inversekinematics --robot=open_manipulator.xml --usecached --iktests=100 --iktype=TranslationZAxisAngle4D --show