The VM can be downloaded here...
drive.google.com/open?id=1uMP1gTU6BwfQiRmfRrmuRrUNVr5kQZ7-
This is a development VM so it is quite large. Hopefully there is nothing sensitive or embarassing.
You can login as frankt/password.
There is a version of linuxcnc in ~/linuxcnc-dev.
openrave is in ~/openrave/openrave, but I compile it and install it when I make changes (make; make install)
In ~/linuxcnc/configs/sim_arm are some samples - only ./robotarm.wam seems to work.
In ~/linuxcnc/configs/sim_arm/moveolike2 is a sim version of my robot arm (./moveolike2), but it is configured to run with a USB pendant - you'll need to remove those hal references.
There is a script in that directory make_ikfast, which runs the command to build the ikfast solvers. If you build the c language version, you can't run the tests - this has to be c++. Running the tests gives performance numbers. I think my arm has the same kinematics as a PUMA arm - the timings are great - mean: 0.000005s, median: 0.000005s, min: 0.000005s, max: 0.000011s
Openrave output is in ~/.openrave
Other points.
* I'm not a robotics expert, but as I understand it, ikfast only provides forward and inverse kinematics code - you still get singularities. To avoid singularities you are supposed to use openrave's path planning.
* the ikfastkins.c is a wrapper to call the ikfast code generated by openrave. It may need work. The inverse kinematics function can return multiple solutions - ikfastkins.c is supposed to pick the best, but I had problems at times either returning no solution, or no close solution - I haven't looked into this - I just hacked the tolerances in ikfastkins.c and the error/ferror in my ini files to avoid problems.
* The ikfastkins.c on the VM may be out of date. The linuxcnc is from master a couple of months ago. Unfortunately, it isn't linked directly to the github version (I have a machinekit fork which blocks me from having a linuxcnc fork)
