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SumOfAngles (KeyError) for custom DH table #9
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For some reason it's trying to find a sum-of-angle relation between th_1 and th_3 but it's not obvious why. I don't see anything wrong with your setup file. I'll keep issue open and hopefully we can have time to dig into it. |
Note: find_xy() is multiply defined: ikbtbasics/ik_classes AND Next step - delete one! We should re-write for a new method which doesn't require a limited lookup table. |
Thank you @blake5634, looking forward to the solution. In the mean time, I tried the solver with another set of DH parameters (5DOF again), and it failed.
Error message :
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Thank you again for helping us improve IKBT. Can you confirm that the examples in ikbtfunctions/ik_robots.py are working for you? Thanks, BH |
Yes, I could obtain correct solutions for |
I've now got 3-way and 2-way sum-of-angles working on BH-dev branch (with a pull request). Unfortunately, this does not cause the UR5 to solve. Next step is to look at transformed UR5 equations and see what solution methods to use and figure out why the BT isn't applying them. |
UR5 is now working (mostly) and is committed to the master branch! The fix is very general and may apply to other "IKBT/unsolvable" robots. Thanks for bringing this up! |
Thank you for sorting out the issue! I'll check it out! |
I've defined my robot as follows :
But I got the error as follows
I checked the #4 , but couldn't help myself.
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