X-Git-Url: https://defiant.homedns.org/gitweb/?p=wt_open_manipulator.git;a=blobdiff_plain;f=ikfast%2Fcreate_ikfast.sh;h=9b8d0ed99c9c8718c85c32bc09777994e0a393f0;hp=acd9d971c4f1dc69395298b471d829c0db214eae;hb=264f3ad6518cc1e467b12b38ffd5cbb05be3c282;hpb=bc995d87c13021ac6d43fcfc88b536dc7a0f462d

diff --git a/ikfast/create_ikfast.sh b/ikfast/create_ikfast.sh
index acd9d97..9b8d0ed 100755
--- 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