Traceback (most recent call last):
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 9521, in <module>
chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2281, in generateIkSolver
chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2936, in solveFullIK_6D
tree = self.solveFullIK_6DGeneral(T0links, T1links, solvejointvars, endbranchtree, usesolvers=1)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 3271, in solveFullIK_6DGeneral
leftovertree = self.SolveAllEquations(AllEquationsExtra,curvars=curvars,othersolvedvars = self.freejointvars+usedvars,solsubs = solsubs,endbranchtree=origendbranchtree)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6848, in SolveAllEquations
return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7213, in AddSolution
nextsolutions[var] = self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6708, in SolveAllEquations
return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7213, in AddSolution
nextsolutions[var] = self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6708, in SolveAllEquations
return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7511, in AddSolution
newtree = self.SolveAllEquations(NewEquationsClean,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=newcases, currentcasesubs=newcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6708, in SolveAllEquations
return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7511, in AddSolution
newtree = self.SolveAllEquations(NewEquationsClean,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=newcases, currentcasesubs=newcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6708, in SolveAllEquations
return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7069, in AddSolution
ss += self.solveSingleVariable([checksimplezeroexpr.subs([(sothervar,sin(othervar)),(cothervar,cos(othervar))])],othervar,othersolvedvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 8526, in solveSingleVariable
return [self.solveHighDegreeEquationsHalfAngle(eqns,varsym)]
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 8097, in solveHighDegreeEquationsHalfAngle
pfinal = self.checkFinalEquation(pfinal,subs)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 8154, in checkFinalEquation
roots = mpmath.polyroots(numpy.array(numpy.array(coeffs),numpy.float64))
File "/usr/lib/python2.7/dist-packages/mpmath/calculus/polynomials.py", line 189, in polyroots
% maxsteps)
mpmath.libmp.libhyper.NoConvergence: Didn't converge in maxsteps=50 steps.
我执行的命令是
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=ur5.dae --iktype=transform6d --baselink=0 --eelink=9 --savefile=$(pwd)/ikfast61.cpp
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