[ros-users] OpenRAVE IKFast Robot Database Released

[Rosen Diankov]

Here is the correct PR2 page with the IK results:

http://openrave.programmingvision.com/en/main/ikfast/pr2-beta-static.html#robot-pr2-beta-static



2011/3/23 Rosen Diankov <rosen.diankov at gmail.com>:
> Dear ROS Users,
>
> OpenRAVE's ikfast feature has been seeing a lot of attention from
> ros-users recently, so we hope that making this announcement on
> ros-users will help get a picture of what's going on with ROS and
> OpenRAVE:
>
> We're pleased to announce the first public testing server of
> analytical inverse kinematics files produced by ikfast:
>
> http://www.openrave.org/testing/job/openrave/
>
> The tests are run nightly and tagged with the current openrave and
> ikfast versions. These results are then updated on the openrave
> webpage here:
>
> http://openrave.programmingvision.com/en/main/robots.html
>
> The testing procedures are very thorough and are explained in detail here:
>
> http://openrave.programmingvision.com/en/main/ikfast/index.html
>
> Navigating the "robots" openrave page, you'll be able to see
> statistics for all possible permutations of IK and download the
> produced C++ files. For example the PR2 page has 70 different ik
> solvers:
>
> file:///home/rdiankov/ros/cturtle/jsk-ros-pkg/openrave_planning/openrave/openrave_svn/docs/build/en/main/ikfast/pr2-beta-static.html#robot-pr2-beta-static
>
> For each result, the "C++ Code" link gives the code and the "View"
> link goes directly to the testing server page where the full testing
> results are shown. If the IK failed to generate or gave a wrong
> solution, the results will show a stack trace and the inputs that gave
> the wrong solution.
>
> For example, when generating 6D IK for the PR2 leftarm and setting the
> l_shoulder_lift_joint as a free parameter, 0.1% of the time a wrong
> solution will be given:
>
> http://www.openrave.org/testing/job/openrave/lastSuccessfulBuild/testReport/%28root%29/pr2-beta-static__leftarm/_Transform6D_free__l_shoulder_lift_joint_16___/?
>
> By clicking on the "wrong solution rate" link, a history of the value
> will be shown that is tagged with the openrave revision:
>
> http://openrave.org/testing/job/openrave/48/testReport/junit/%28root%29/pr2-beta-static__leftarm/_Transform6D_free__l_shoulder_lift_joint_16___/measurementPlots/wrong%20solutions/history/
>
> In any case all these results are autogenerated from these robot repositories:
>
> http://openrave.programmingvision.com/en/main/robots_overview.html#repositories
>
> They are stored in the international standard COLLADA file format:
>
> http://www.khronos.org/collada/
>
> and OpenRAVE offers several robot-specific extensions to make the
> robots "planning-ready":
>
> http://openrave.programmingvision.com/wiki/index.php/Format:COLLADA
>
> The collada_urdf package in the robot_model trunk should convert the
> URDF files into COLLADA files that use these extensions.
>
> Our hope is that eventually the database will contain all of the
> world's robot arms. So, if you have any robot models that you want
> included on this page please send an email to the openrave-users list!
>
> In order to keep the openrave code and documentation more tightly
> synchronized, we have unified all the OpenRAVE documentation resources
> into one auto-generated  (from sources) homepage:
>
> http://www.openrave.org
>
> Some of the cool things to note are the examples/databases/interfaces gallery:
>
> http://openrave.programmingvision.com/en/main/examples.html
>
> http://openrave.programmingvision.com/en/main/databases.html
>
> http://openrave.programmingvision.com/en/main/plugin_interfaces.html
>
> Finally, just to assure everyone we're working on tighter integration
> with ROS and have begun to offer some of the standard
> planning/manipulation services through the orrosplanning package.
>
> rosen diankov,
>