老师您好,七轴机器人配置ikfast时,python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --freeindex="$FREE_INDEX" --savefile="$IKFAST_OUTPUT_PATH"
这句命令出现以下错误:
Traceback (most recent call last):
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 9521, in
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 3250, in solveFullIK_6DGeneral
coupledsolutions,usedvars = solvemethod(rawpolyeqs,solvejointvars,endbranchtree=endbranchtree,AllEquationsExtra=AllEquationsExtraPruned)
File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 4711, in solveLiWoernleHiller
if ((neweqs_simple[0][0]*tvar - neweqs_simple[1][0])*testrational + neweqs_simple[6][0]*tvar - neweqs_simple[7][0]).expand() == S.Zero:
IndexError: list index out of range
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