replace id 12 with xm540-w270

[wt_open_manipulator.git] / ikfast / create_ikfast.sh

diff --git a/ikfast/create_ikfast.sh b/ikfast/create_ikfast.sh
index acd9d971c4f1dc69395298b471d829c0db214eae..9b8d0ed99c9c8718c85c32bc09777994e0a393f0 100755 (executable)
--- a/ikfast/create_ikfast.sh
+++ b/ikfast/create_ikfast.sh
@@ -1,7 +1,12 @@
 #!/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
+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