IKFast生成ik C++文件失败

Donald Shallwing

本人按照教程```
https://fishros.org.cn/forum/topic/680/moveit-ikfast运动学插件配置-最详细-没有之一

Traceback (most recent call last):
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 9619, in <module>
chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 2320, in generateIkSolver
chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 2915, in solveFullIK_6D
tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 3003, in TestIntersectingAxes
return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 3207, in solve6DIntersectingAxes
rottree += self.SolveAllEquations(AllEquations,curvars=currotvars,othersolvedvars=othersolvedvars,solsubs=self.freevarsubs[:],endbranchtree=storesolutiontree)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 6939, in SolveAllEquations
return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 7039, in AddSolution
return [solution[0].subs(solsubs)]+self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 6799, in SolveAllEquations
return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 7305, in AddSolution
nextsolutions[var] = self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 6799, in SolveAllEquations
return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 7603, in AddSolution
newtree = self.SolveAllEquations(NewEquationsClean,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=newcases, currentcasesubs=newcasesubs, unknownvars=unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 6782, in SolveAllEquations
rawsolutions=self.solveSingleVariable(self.sortComplexity(raweqns),curvar,othersolvedvars, unknownvars=curvars+unknownvars)
File "/usr/local/lib/python2.7/dist-packages/openravepy/openravepy/ikfast.py", line 8353, in solveSingleVariable
if Poly(enew,varsym.svar).TC() == S.Zero or Poly(enew,varsym.cvar) == S.Zero or Poly(enew,varsym.var) == S.Zero:
File "/root/.local/lib/python2.7/site-packages/sympy/polys/polytools.py", line 98, in new
return cls._from_expr(rep, opt)
File "/root/.local/lib/python2.7/site-packages/sympy/polys/polytools.py", line 209, in _from_expr
return cls._from_dict(rep, opt)
File "/root/.local/lib/python2.7/site-packages/sympy/polys/polytools.py", line 151, in _from_dict
domain, rep = construct_domain(rep, opt=opt)
File "/root/.local/lib/python2.7/site-packages/sympy/polys/constructor.py", line 217, in construct_domain
result = _construct_composite(coeffs, opt)
File "/root/.local/lib/python2.7/site-packages/sympy/polys/constructor.py", line 169, in _construct_composite
numer[monom] = ground.from_sympy(coeff)
File "/root/.local/lib/python2.7/site-packages/sympy/polys/domains/pythonrationalfield.py", line 34, in from_sympy
raise CoercionFailed("expected Rational object, got %s" % a)
sympy.polys.polyerrors.CoercionFailed: expected Rational object, got -oo


这个问题是什么意思，该如何解决？