amandlek Posted July 11, 2017 Share Posted July 11, 2017 Hi, My colleagues and I have been trying for quite some time to get IK Fast to build for the Sawyer Arms, with no success. We've installed OpenRave successfully and verified the installation, but we've been having trouble getting the ik_fast module to generate the solver cpp file for us. We think that it's because there's something about the URDF file (or DAE file, which we generated from the URDF) that is being read incorrectly by OpenRave. We've been able to do this successfully with the Baxter using the instructions here: http://sdk.rethinkrobotics.com/wiki/Custom_IKFast_for_your_Baxter. Could you please help us get IK Fast to build on the Sawyer arm? Thanks! Link to comment Share on other sites More sharing options...
ahzahra Posted July 31, 2017 Share Posted July 31, 2017 I would love an answer to this question as well. I tried a lot of things to get IK Fast to work, but was never able to. Link to comment Share on other sites More sharing options...
Guru Posted July 10, 2018 Share Posted July 10, 2018 Hi! I got this working. Here is ikfast and the moveit plugin. The trick is to set link 0 as the free link when creating the ikfast analytical solution. Don't do the rounding step. If you've gone though the tutorial on Moveit, you'll understand what I am talking about. If you have any questions, just ask. Thanks! Guru sawyer_ikfast_right_arm_plugin.tar.gz Link to comment Share on other sites More sharing options...
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