IK problem: IKfast can't find the full solutions

[yy16808]

I tested the IKfast for my own robot,
But sometimes it seems could not give the full solutions:
sometimes output 4 or 2 solutions, less than 8 as below

The solutions piture:

The robot demo:

[cielavenir]

Try specifying openravepy.IkFilterOptions.IgnoreEndEffectorCollisions|openravepy.IkFilterOptions.IgnoreEndEffectorEnvCollisions|openravepy.IkFilterOptions.IgnoreEndEffectorSelfCollisions|openravepy.IkFilterOptions.IgnoreJointLimits|openravepy.IkFilterOptions.IgnoreSelfCollisions to filteroptions, then remove the flag one by one

[yy16808]

Try specifying openravepy.IkFilterOptions.IgnoreEndEffectorCollisions|openravepy.IkFilterOptions.IgnoreEndEffectorEnvCollisions|openravepy.IkFilterOptions.IgnoreEndEffectorSelfCollisions|openravepy.IkFilterOptions.IgnoreJointLimits|openravepy.IkFilterOptions.IgnoreSelfCollisions to filteroptions, then remove the flag one by one

Thanks, I think you got to the heart of the problem！

But I have a little question:

I just got the CPP solver file through the command "python openrave-config --python-dir/openravepy/_openravepy_/ikfast.py --robot=*.dae --iktype=transform6d --baselink=0 --eelink=6 --savefile=$(pwd)/ikfast61.cpp" and then tested the file alone in C++ environment.

I check the ikfast.py and find that it seems don't support the filteroptions.

Before that how could I configure the filteroptions?

[cielavenir]

It depends on how you call the solver but I can show these filteroptions occurrences at least

include/openrave/robot.h
298:        /// \param[in] filteroptions A bitmask of \ref IkFilterOptions values controlling what is checked for each ik solution.
299:        bool FindIKSolution(const IkParameterization& param, std::vector<dReal>& solution, int filteroptions) const;
300:        bool FindIKSolution(const IkParameterization& param, const std::vector<dReal>& vFreeParameters, std::vector<dReal>& solution, int filteroptions) const;
301:        bool FindIKSolution(const IkParameterization& param, int filteroptions, IkReturnPtr ikreturn) const;
302:        bool FindIKSolution(const IkParameterization& param, const std::vector<dReal>& vFreeParameters, int filteroptions, IkReturnPtr ikreturn) const;
308:        /// \param[in] filteroptions A bitmask of \ref IkFilterOptions values controlling what is checked for each ik solution.
309:        bool FindIKSolutions(const IkParameterization& param, std::vector<std::vector<dReal> >& solutions, int filteroptions) const;
310:        bool FindIKSolutions(const IkParameterization& param, const std::vector<dReal>& vFreeParameters, std::vector<std::vector<dReal> >& solutions, int filteroptions) const;
311:        bool FindIKSolutions(const IkParameterization& param, int filteroptions, std::vector<IkReturnPtr>& vikreturns) const;
312:        bool FindIKSolutions(const IkParameterization& param, const std::vector<dReal>& vFreeParameters, int filteroptions, std::vector<IkReturnPtr>& vikreturns) const;

[yy16808]

It depends on how you call the solver but I can show these filteroptions occurrences at least

include/openrave/robot.h
298:        /// \param[in] filteroptions A bitmask of \ref IkFilterOptions values controlling what is checked for each ik solution.
299:        bool FindIKSolution(const IkParameterization& param, std::vector<dReal>& solution, int filteroptions) const;
300:        bool FindIKSolution(const IkParameterization& param, const std::vector<dReal>& vFreeParameters, std::vector<dReal>& solution, int filteroptions) const;
301:        bool FindIKSolution(const IkParameterization& param, int filteroptions, IkReturnPtr ikreturn) const;
302:        bool FindIKSolution(const IkParameterization& param, const std::vector<dReal>& vFreeParameters, int filteroptions, IkReturnPtr ikreturn) const;
308:        /// \param[in] filteroptions A bitmask of \ref IkFilterOptions values controlling what is checked for each ik solution.
309:        bool FindIKSolutions(const IkParameterization& param, std::vector<std::vector<dReal> >& solutions, int filteroptions) const;
310:        bool FindIKSolutions(const IkParameterization& param, const std::vector<dReal>& vFreeParameters, std::vector<std::vector<dReal> >& solutions, int filteroptions) const;
311:        bool FindIKSolutions(const IkParameterization& param, int filteroptions, std::vector<IkReturnPtr>& vikreturns) const;
312:        bool FindIKSolutions(const IkParameterization& param, const std::vector<dReal>& vFreeParameters, int filteroptions, std::vector<IkReturnPtr>& vikreturns) const;

As far as I know, these functions can be used in the concrete example like that

    robot.SetDOFValues([2.58, 0.547, 1.5, -0.7],[0,1,2,3]) # set the first 4 dof values

   Tee = manip.GetTransform() # get end effector

    ikparam = IkParameterization(Tee[0:3,3],ikmodel.iktype) # build up the translation3d ik query

    sols = manip.FindIKSolutions(ikparam, IkFilterOptions.CheckEnvCollisions) # get all solutions

But I still could not find the interface to modify the demo like that to configure the IkFilterOptions:

.. code-block:: python
  env = Environment()
  kinbody = env.ReadRobotXMLFile('robots/barrettwam.robot.xml')
  env.Add(kinbody)
  solver = ikfast.IKFastSolver(kinbody=kinbody)
  chaintree = solver.generateIkSolver(baselink=0,eelink=7,freeindices=[2],solvefn=ikfast.IKFastSolver.solveFullIK_6D)
  code = solver.writeIkSolver(chaintree)
  with open('ik.cpp','w') as f:
      f.write(code)
.. _ikfast_generatedcpp:

[cielavenir]

sols = manip.FindIKSolutions(ikparam, IkFilterOptions.CheckEnvCollisions) # get all solutions

change IkFilterOptions.CheckEnvCollisions to IkFilterOptions.IgnoreEndEffectorCollisions|IkFilterOptions.IgnoreEndEffectorEnvCollisions|IkFilterOptions.IgnoreEndEffectorSelfCollisions|IkFilterOptions.IgnoreJointLimits|IkFilterOptions.IgnoreSelfCollisions

[yy16808]

sols = manip.FindIKSolutions(ikparam, IkFilterOptions.CheckEnvCollisions) # get all solutions

change IkFilterOptions.CheckEnvCollisions to IkFilterOptions.IgnoreEndEffectorCollisions|IkFilterOptions.IgnoreEndEffectorEnvCollisions|IkFilterOptions.IgnoreEndEffectorSelfCollisions|IkFilterOptions.IgnoreJointLimits|IkFilterOptions.IgnoreSelfCollisions

Yes, I know your meaning, But It is still a concrete example with specifying for ikparam

I mean the sencond demo to generate a whole CPP file with collision options without a specific positional parameter .

[cielavenir]

iksolver itself is unrelated to filteroptions and is capable to give all solutions. filteroptions is an argument for FindIKSolutions.

[yy16808]

iksolver itself is unrelated to filteroptions and is capable to give all solutions. filteroptions is an argument for FindIKSolutions.

The picture above  I have no set with filteroptions, just the iksolver output. 

But I don't think it gives the all solutions...