FastIK Generator Issues

[Shaun Edwards]

All,

Has anyone had any issue generating FastIK solutions in INDIGO using the MoveIt tutorial here: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/ikfast_tutorial.html 

I followed the instructions and tried to generate a FastIK solver for a standard industrial arm and it dies midway through with the following error:

TypeError: symbolic boolean expression has no truth value

I then tried the same procedure with a docker image and didn't have any issue: https://github.com/personalrobotics/docker-public-images/tree/master/ros-openrave 

I verified the same issue occurs with a Fanuc, which already had a fast IK solution, so I know it's not related to kinematics.

I can provide more information/try to debug, but I just wanted to see if anybody else was having this issue.

-Shaun

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Shaun Edwards

[G.A. vd. Hoorn - 3ME]

In my experience OpenRAVE is very picky about the versions of sympy that
it will work with. That is one of the things that often go wrong when
building it from sources. IIRC the Docker image you mention uses a
specific version that is known to work.

I haven't personally had any problems with it (as I always just use that
Docker image), but I've seen some questions about it on ROS Answers and
also here in the group.


Gijs

[Kei Okada]

I had checked openrave ikfast last week and it works well with our dual arm humanis robot, which I believe more complex than your robot.

Please follow followong discussion and lets try with nextage robot and see if your environment is correct.

What we have found is we can generate cop file but that is not compilable with default sympy 0.7.4 ship with ubuntu 14.04, and sympy 0.7.1 solves this problem. I expext since your robot is simpler than nextage, you can run with 0.7.4 sympy.

* simple/complex is not just a shape, but the configuration of joint where nextage does not have orthogonal axis in shoulder and wrist.

https://github.com/rdiankov/openrave/issues/470

Also please check your openrave version. 0.0.4 may work, 0.0.5 is the latest production version.

https://github.com/ros/rosdistro/pull/13783

2017年2月8日(水) 23:33 G.A. vd. Hoorn - 3ME <g.a.van...@tudelft.nl>:

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◉ Kei Okada

[Shaun Edwards]

So it appears that it's a version issue with sympy and openrave.  While there are work around's, the tutorial procedure does not work with Indigo and Ubuntu 14.04.  

Is anyone aware of efforts to make fastIK "work out of the box"?

-Shaun

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Shaun Edwards