Open kracon7 opened 4 years ago
Try removing mpmath and use sympy 0.7.1, worked for me: http://openrave-users-list.185357.n3.nabble.com/mpmath-not-needed-td4027687.html
@capaulson Actually I didn't have mpmath. The mpmath was already removed when I tried to setup OpenRave for regenerating the .cpp code. mpmath did cause problem in that step as I mentioned earlier in issue #2
Hi @kracon7 , did you solve this issue, I had the same issue that ikfast was failed to get ik solution.
Hi @kracon7 , did you solve this issue, I had the same issue that ikfast was failed to get ik solution.
No, I wasn't able to solve it.
Hi, I found that the wrapper was doing something wierd. My regenerated robot model is pretty much the same as it is in the repo, expect for the last link translation. I changed that from 0.0823 to 0.3
The issue is: For tatget rotation configuration that's aligned with the initial frame, the solver seems to fail no matter how. I tried a feasible configuration close to that and the inverse could work. Please check the code below.
However if I change the rotation frame to identity, the inverse fails. I double checked that this configuration is not at singularity.