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Hi,all.
I am new at using OpenRave, and I want some of trajecotry data. So, I repeated the foiiowing program in while loop.
"robot" means hironx.
def planning(robot=robot,name="target"):
gmodel=databases.grasping.GraspingModel(robot=robot,target=env.GetKinBody(name))
if not gmodel.load():
gmodel.autogenerate()
validgrasps,validindices=gmodel.computeValidGrasps()
if validgrasps==[]:
return None
trajs=[]
for i in range(len(validgrasps)):
validgrasp=validgrasps[i]
print validgrasp
try:
gmodel.setPreshape(validgrasp) #手を開いて目標物に近づくために必要らしい
matrices = [gmodel.getGlobalGraspTransform(validgrasp,collisionfree=True)]
print matrices
traj=manipprob.MoveToHandPosition(matrices=matrices,outputtrajobj=True,execute=False)
robot.WaitForController(0)
robot.SetDOFValues(traj.GetWaypoint(-1)[0:7],array([ 0, 13, 14, 15, 16, 17, 18], dtype=int32))
hand_position=robot.GetActiveManipulator().GetTransform()
reset_pose()
trajs.append([validindices[i],traj,hand_position])
except planning_error,e:
print "try again: ",e
return trajs
then I got following error.
/usr/lib/python2.7/dist-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py in MoveToHandPosition(self, matrices, affinedofs, maxiter, maxtries, translation, rotation, seedik, constraintfreedoms, constraintmatrix, constrainterrorthresh, execute, outputtraj, steplength, goalsamples, ikparam, ikparams, jitter, minimumgoalpaths, outputtrajobj, postprocessing, jittergoal, constrainttaskmatrix, constrainttaskpose, goalsampleprob, goalmaxsamples, goalmaxtries)
186 if goalmaxtries is not None:
187 cmd += 'goalmaxtries %d '%goalmaxtries
--> 188 res = self.prob.SendCommand(cmd)
189 if res is None:
190 raise planning_error('MoveToHandPosition')
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:418] -> T* boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::RobotBase], expr: px != 0
First, I thought something was wrong in my source. However, it seems that the error is occored by MoveToHandPosition method. Now I put appropriate values in "matrices", and I tried the next source code a few times.
for i in range(100):
manipprob.MoveToHandPosition(matrices=matrices,outputtrajobj=True,execute=False)
There were times when this code ran normally.But, sometimes it caused the error which I mentioned above.
Why I fall into this situation !?
I would like to get some advice about this problems.
Thank you for your attention.
Yusuke
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