ikfast for simple 3dof (Rotation3d)

[jessevdk]

Hi,

I'm trying to use ikfast for a very simple inverse kinematics problem for a 3dof joint (3 rotations). I tried to make a very simple XML file containing just the kinematics of the three joints. However, when trying to run the IK, I often get 0 solutions (also for non singular configurations). Also, when running with the --iktests flag, I get the following exception:

Traceback (most recent call last): File "/usr/bin/openrave0.8.py", line 126, in <module> database.run(args=args) File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 934, in run InverseKinematicsModel.RunFromParser(*args,**kwargs) File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 920, in RunFromParser successrate, wrongrate = ikmodel.testik(iktests=options.iktests) File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 799, in testik res = self.ikfastproblem.SendCommand(cmd).split() openravepy._openravepy_0_8.openravepy_ext.openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:418] -> T* boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::SpaceSamplerBase], expr: px != 0

This is with openrave 0.8 on Ubuntu precise. The xml that I use (I just copied for now from the WAM7/barrett actually) is this:

http://biorob2.epfl.ch/~jvanden/myrobot.xml

Is there anything obvious wrong with this? What is the simplest way to get ikfast to perform a 3DOF inverse kinematics for me?

[rdiankov]

we haven't tested the Rotation3D type for quiet some time, i'll see if we can fix it