RobCoGen unexpected number of elements in matrix + J

[Nickick-ICRS]

Hi! I've hit a problem trying to generate the RobCoGen files. At first I got everything to generate fine, but I was using 0.5.2, which caused issues as the tpl namespace didn't exist.

Switching to the expected 0.4ad.0 and readjusting config parameters (including the fix in issue #166 ), I can generate everything except the Jacobians. This issue persists whether I try to generate full Jacobians from e.g. my world frame to my end effector, or whether I split them up (the way I have the transforms split up - world_x_a and a_x_end_effector etc.)

The exception I'm getting after running 0, 1, 4 (or 0, 1, 5, 6, 7) is:

Exception in thread "main" java.lang.RuntimeException: Unexpected number of elements in row 5 of the matrix + J. Expected 5, found 7
	at iit.dsl.maxdsl.utils.MaximaConversionUtils.getMatrix(Unknown Source)
	at iit.dsl.generator.maxima.Converter.getJacobianText(Unknown Source)
	at iit.dsl.generator.cpp.kinematics.Jacobians.localClassesDefinitions(Unknown Source)
	at iit.dsl.generator.cpp.kinematics.Jacobians.sourceFile(Unknown Source)
	at iit.dsl.generator.cpp.Generator.generateJacobiansFiles(Unknown Source)
	at iit.robcogen.KinDSLWrapper.generate(Unknown Source)
	at iit.robcogen.KinDSLWrapper.generate(Unknown Source)
	at iit.robcogen.Generator.main(Unknown Source)

Any ideas what is causing this and how to fix it? My robot is kind of a 2 branched tree if that helps.

[csufangyu]

I get the same problem,have you solved it?

[JuliusSustarevas]

I have a similar error, but its in matrix + trigsimp.

[markusgft]

How many joints does the robot have?

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Am 27.07.2021 um 17:39 schrieb Julius Sustarevas ***@***.***>:  I have a similar error, but its in matrix + trigsimp. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or unsubscribe.

[JuliusSustarevas]

More than 6 :) was using wrong description, my bad. Ended up generating fine.

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On Thu, Jul 29, 2021, 06:31 Markus Giftthaler ***@***.***> wrote: How many joints does the robot have? > Am 27.07.2021 um 17:39 schrieb Julius Sustarevas ***@***.***>: > >  > I have a similar error, but its in matrix + trigsimp. > > — > You are receiving this because you are subscribed to this thread. > Reply to this email directly, view it on GitHub, or unsubscribe. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#193 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AH7P7DGYOROYPA5VVWGYWB3T2DRTHANCNFSM44QOOW4A> .