Sawyer Arm Fast IK


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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: Could you please help us get IK Fast to build on the Sawyer arm? Thanks!

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  • 3 weeks later...
  • 11 months later...


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.




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