メモ：ikfastを動かすためにsympyのインストール
（編集中）
ikfastを動かすために、sympy-0.7.1をソースからインストール
https://github.coをm/sympy/sympy/releases/tag/sympy-0.7.1
sudo apt-get install cython
sudp python setup.py install
sympyのバージョン確認
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --help
旧バージョン0.6.6の削除
sudo apt-get remove python-sympy
$ python ikfast.py --help
Usage: ikfast.py [options]
IKFast: The Robot Kinematics Compiler
Software License Agreement (Lesser GPL v3). Copyright (C) 2009-2011 Rosen
Diankov. IKFast is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
for more details. IKFast is part of OpenRAVE. This program can be used with
robots or kinbodies defined and is independent of the OpenRAVE databases.
Example usage for 7 DOF Barrett WAM where the 3rd joint is a free parameter:
python ikfast.py --robot=robots/barrettwam.robot.xml --baselink=0 --eelink=7
--savefile=ik.cpp --freeindex=2
Options:
--version show program's version number and exit
-h, --help show this help message and exit
--robot=ROBOT robot file (COLLADA or OpenRAVE XML)
--savefile=SAVEFILE filename where to store the generated c++ code
--baselink=BASELINK base link index to start extraction of ik chain
--eelink=EELINK end effector link index to end extraction of ik chain
--freeindex=FREEINDICES
Optional joint index specifying a free parameter of
the manipulator. If not specified, assumes all joints
not solving for are free parameters. Can be specified
multiple times for multiple free parameters.
--iktype=IKTYPE The iktype to generate the ik for. Possible values
are: ray4d, lookat3d, translationxy2d,
translationxaxisangle4d, rotation3d,
translationzaxisangle4d, translationyaxisangle4d,
direction3d, transform6d,
translationxaxisangleznorm4d, translation3d,
translationxyorientation3d,
translationyaxisanglexnorm4d, translationdirection5d,
translationzaxisangleynorm4d
--lang=LANG The language to generate the code in (default=cpp),
available=(cpp)
-d DEBUG, --debug=DEBUG
Debug level for python nose (smaller values allow more
text).
OpenRaveのモデルは.xmlか.zaeの2形式。.zaeはmanifest.xmlとCollada形式の.daeの2つをzip圧縮したもの。
適当にkawada-hironx.zaeの情報を見てみる
$ openrave-robot.py --help
Usage: openrave-robot.py openrave-filename [options]
Queries information about OpenRAVE-loadable robots
Options:
-h, --help show this help message and exit
--list=DOLIST Lists the manipulators/sensors/links/joints names of
the robot.
--info=DOINFO Prints detailed information on
manipulators/sensors/links/joints information of a
robot.
--hash=DOHASH If set, will output hashes of the loaded body
depending if manipname or sensorname are set. Can be
one of (body,kinematics,robot)
--manipname=MANIPNAME
if manipulator name is specified will return the
manipulator hash of the robot
--sensorname=SENSORNAME
if manipulator name is specified will return the
sensor hash of the robot
cvl@cvl-desktop:~/openrave-0.8.2/src/robots$ openrave-robot.py kawada-hironx.zae --list manipulators
rightarm
rightarm_torso
leftarm
leftarm_torso
head
head_torso
cvl@cvl-desktop:~/openrave-0.8.2/src/robots$ openrave-robot.py kawada-hironx.zae --list sensors
cvl@cvl-desktop:~/openrave-0.8.2/src/robots$ openrave-robot.py kawada-hironx.zae --list links
WAIST
CHEST_JOINT0_Link
HEAD_JOINT0_Link
HEAD_JOINT1_Link
RARM_JOINT0_Link
RARM_JOINT1_Link
RARM_JOINT2_Link
RARM_JOINT3_Link
RARM_JOINT4_Link
RARM_JOINT5_Link
RHAND_JOINT0_Link
RHAND_JOINT1_Link
RHAND_JOINT2_Link
RHAND_JOINT3_Link
LARM_JOINT0_Link
LARM_JOINT1_Link
LARM_JOINT2_Link
LARM_JOINT3_Link
LARM_JOINT4_Link
LARM_JOINT5_Link
LHAND_JOINT0_Link
LHAND_JOINT1_Link
LHAND_JOINT2_Link
LHAND_JOINT3_Link
cvl@cvl-desktop:~/openrave-0.8.2/src/robots$ openrave-robot.py kawada-hironx.zae --list joints
CHEST_JOINT0
HEAD_JOINT0
HEAD_JOINT1
RARM_JOINT0
RARM_JOINT1
RARM_JOINT2
RARM_JOINT3
RARM_JOINT4
RARM_JOINT5
RHAND_JOINT0
RHAND_JOINT1
RHAND_JOINT2
RHAND_JOINT3
LARM_JOINT0
LARM_JOINT1
LARM_JOINT2
LARM_JOINT3
LARM_JOINT4
LARM_JOINT5
LHAND_JOINT0
LHAND_JOINT1
LHAND_JOINT2
LHAND_JOINT3
cvl@cvl-desktop:~/openrave-0.8.2/src/robots$ openrave-robot.py kawada-hironx.zae --info manipulators
name base end arm-dof gripper-dof arm gripper
-----------------------------------------------------------------------------------------------------
rightarm CHEST_JOINT0_Link RARM_JOINT5_Link 6 4 3,4,5,6,7,8 9,10,11,12
rightarm_torso WAIST RARM_JOINT5_Link 7 4 0,3,4,5,6,7,8 9,10,11,12
leftarm CHEST_JOINT0_Link LARM_JOINT5_Link 6 4 13,14,15,16,17,18 19,20,21,22
leftarm_torso WAIST LARM_JOINT5_Link 7 4 0,13,14,15,16,17,18 19,20,21,22
head CHEST_JOINT0_Link HEAD_JOINT1_Link 2 0 1,2
head_torso WAIST HEAD_JOINT1_Link 3 0 0,1,2
-----------------------------------------------------------------------------------------------------
name base end arm-dof gripper-dof arm gripper
cvl@cvl-desktop:~/openrave-0.8.2/src/robots$ openrave-robot.py kawada-hironx.zae --info sensors
name type link
--------------
name type link
cvl@cvl-desktop:~/openrave-0.8.2/src/robots$ openrave-robot.py kawada-hironx.zae --info links
name index parents
-----------------------------------------
WAIST 0
CHEST_JOINT0_Link 1 WAIST
HEAD_JOINT0_Link 2 CHEST_JOINT0_Link
HEAD_JOINT1_Link 3 HEAD_JOINT0_Link
RARM_JOINT0_Link 4 CHEST_JOINT0_Link
RARM_JOINT1_Link 5 RARM_JOINT0_Link
RARM_JOINT2_Link 6 RARM_JOINT1_Link
RARM_JOINT3_Link 7 RARM_JOINT2_Link
RARM_JOINT4_Link 8 RARM_JOINT3_Link
RARM_JOINT5_Link 9 RARM_JOINT4_Link
RHAND_JOINT0_Link 10 RARM_JOINT5_Link
RHAND_JOINT1_Link 11 RHAND_JOINT0_Link
RHAND_JOINT2_Link 12 RARM_JOINT5_Link
RHAND_JOINT3_Link 13 RHAND_JOINT2_Link
LARM_JOINT0_Link 14 CHEST_JOINT0_Link
LARM_JOINT1_Link 15 LARM_JOINT0_Link
LARM_JOINT2_Link 16 LARM_JOINT1_Link
LARM_JOINT3_Link 17 LARM_JOINT2_Link
LARM_JOINT4_Link 18 LARM_JOINT3_Link
LARM_JOINT5_Link 19 LARM_JOINT4_Link
LHAND_JOINT0_Link 20 LARM_JOINT5_Link
LHAND_JOINT1_Link 21 LHAND_JOINT0_Link
LHAND_JOINT2_Link 22 LARM_JOINT5_Link
LHAND_JOINT3_Link 23 LHAND_JOINT2_Link
-----------------------------------------
name index parents
cvl@cvl-desktop:~/openrave-0.8.2/src/robots$ openrave-robot.py kawada-hironx.zae --info joints
name joint_index dof_index parent_link child_link mimic
----------------------------------------------------------------------------
CHEST_JOINT0 0 0 WAIST CHEST_JOINT0_Link
HEAD_JOINT0 1 1 CHEST_JOINT0_Link HEAD_JOINT0_Link
HEAD_JOINT1 2 2 HEAD_JOINT0_Link HEAD_JOINT1_Link
RARM_JOINT0 3 3 CHEST_JOINT0_Link RARM_JOINT0_Link
RARM_JOINT1 4 4 RARM_JOINT0_Link RARM_JOINT1_Link
RARM_JOINT2 5 5 RARM_JOINT1_Link RARM_JOINT2_Link
RARM_JOINT3 6 6 RARM_JOINT2_Link RARM_JOINT3_Link
RARM_JOINT4 7 7 RARM_JOINT3_Link RARM_JOINT4_Link
RARM_JOINT5 8 8 RARM_JOINT4_Link RARM_JOINT5_Link
RHAND_JOINT0 9 9 RARM_JOINT5_Link RHAND_JOINT0_Link
RHAND_JOINT1 10 10 RHAND_JOINT0_Link RHAND_JOINT1_Link
RHAND_JOINT2 11 11 RARM_JOINT5_Link RHAND_JOINT2_Link
RHAND_JOINT3 12 12 RHAND_JOINT2_Link RHAND_JOINT3_Link
LARM_JOINT0 13 13 CHEST_JOINT0_Link LARM_JOINT0_Link
LARM_JOINT1 14 14 LARM_JOINT0_Link LARM_JOINT1_Link
LARM_JOINT2 15 15 LARM_JOINT1_Link LARM_JOINT2_Link
LARM_JOINT3 16 16 LARM_JOINT2_Link LARM_JOINT3_Link
LARM_JOINT4 17 17 LARM_JOINT3_Link LARM_JOINT4_Link
LARM_JOINT5 18 18 LARM_JOINT4_Link LARM_JOINT5_Link
LHAND_JOINT0 19 19 LARM_JOINT5_Link LHAND_JOINT0_Link
LHAND_JOINT1 20 20 LHAND_JOINT0_Link LHAND_JOINT1_Link
LHAND_JOINT2 21 21 LARM_JOINT5_Link LHAND_JOINT2_Link
LHAND_JOINT3 22 22 LHAND_JOINT2_Link LHAND_JOINT3_Link
----------------------------------------------------------------------------
name joint_index dof_index parent_link child_link mimic
試しにkawada-hironx.zaeのモデルを用いて、ikfastに掛けて首関節角度を求めるソースコードを出力してみましょう。
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=robots/kawada-hironx.zae --baselink=0 --eelink=3 --savefile=ik.cpp --freeindex=1 --iktype=lookat3d
