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quangounet / TOPP

Time-Optimal Path Parameterization (à la Bobrow)
GNU Lesser General Public License v3.0
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Problem in running "Bimanual manipulation (redundant actuation)" #30

Closed masoud-fazeli closed 7 years ago

masoud-fazeli commented 7 years ago

Hello I'm going to execute "Bimanual manipulation (redundant actuation)" as you explained in quick example pages. Everything is ok till line 85 where we you are going to use Bimanual.IK3 function to find start configuration of second robot. After spending two hours for calculating q_start2 the solution is still unknown. I think something is wrong in this line, e.g. desired goal position is not in robot task space or something. Would you please help me to fix this issue?

Line 85 : q_start2, error = Bimanual.IK3(robot1,desiredpose2,q_start=array([pi,0,0])-q_start1)

Same problem exist in line 103 Line 103: q_goal2, error = Bimanual.IK3(robot1,desiredpose2,q_start=array([pi,0,0])-q_goal1)

Thanks

quangounet commented 7 years ago

Hi Masoud

This particular test case was written long time ago, and to tell the truth, not as well tested as the other test cases. Therefore I don't have the resources currently to fix it. If you can fix it by yourself, please issue a pull request to that we can integrate your changes.

Thanks in advance,

Cuong

On 16/1/17 5:31 pm, Masoud Fazeli wrote:

Hello I'm going to execute "Bimanual manipulation (redundant actuation)" as you explained in quick example pages. Everything is ok till line 85 where we you are going to use Bimanual.IK3 function to find start configuration of second robot. After spending two hours for calculating q_start2 the solution is still unknown. I think something is wrong in this line, e.g. desired goal position is not in robot task space or something. Would you please help me to fix this issue?

Line 85 : q_start2, error = Bimanual.IK3(robot1,desiredpose2,q_start=array([pi,0,0])-q_start1)

Same problem exist in line 103 Line 103: q_goal2, error = Bimanual.IK3(robot1,desiredpose2,q_start=array([pi,0,0])-q_goal1)

Thanks

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