How to use OpenRAVE's IK with a 5DoF manipulator?
After successfully converting my URDF file to COLLADA, I can start the IK service like this:
roscd katana_description/collada
rosrun orrosplanning ik_openrave.py --scene="katana6m90a.robot.xml"
The files to reproduce have been added to the katana_description package.
Now, when I make a call to the GetPositionIK
service (the ROS version, of type kinematics_msgs/GetPositionIK
), I get the following error message:
...
ValueError: number of joints to solve for is not equal to required joints 5!=6
Of course, it is impossible to solve 6DoF IK with a 5DoF arm. Is it possible to use one of the other IK types that OpenRAVE offers to move my gripper into a grasping position?