added ikfast folder

[wt_open_manipulator.git] / ikfast / create_ikfast.sh

diff --git a/ikfast/create_ikfast.sh b/ikfast/create_ikfast.sh
new file mode 100755 (executable)
index 0000000..acd9d97
--- /dev/null
+++ b/ikfast/create_ikfast.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+
+export HOME=/tmp
+python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=open_manipulator.dae --iktype=translationzaxisangle4d --baselink=0 --eelink=5
+
+# test
+openrave.py --database inversekinematics --robot=open_manipulator.xml --usecached --iktests=100 --iktype=TranslationZAxisAngle4D
+openrave.py --database inversekinematics --robot=open_manipulator.xml --usecached --iktests=100 --iktype=TranslationZAxisAngle4D --show