Error with Module inversekinematics

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Error with Module inversekinematics

filipposanfilippo
Hi,
I have written this xml for a simple manipulator:

<Robot name="schunk-dualarm">
  <KinBody>
    <body name="chest">
      <geom type="box">
        <extents>0.1 0.02 0.2</extents>
        <translation>0 0 0.3</translation>
      </geom>
    </body>
   
    <KinBody prefix="l_" file="modular-finger3.kinbody.xml">
     
      <translation>0 0.05 0.48</translation>
    </KinBody>
   
    <KinBody prefix="r_" file="modular-finger3.kinbody.xml">
     
        <RotationAxis>1 0 0 180</RotationAxis>
        <RotationAxis>0 1 0 180</RotationAxis>
      <translation>0 -0.05 0.48</translation>
    </KinBody>
   
    <joint name="leftdummy" type="hinge" enable="false">
      <body>chest</body>
      <body>l_Tail</body>
      <limits>0 0</limits>
    </joint>
    <joint name="rightdummy" type="hinge" enable="false">
      <body>chest</body>
      <body>r_Tail</body>
      <limits>0 0</limits>
    </joint>
  </KinBody>
 
  <Manipulator name="leftarm">
    <base>l_Tail</base>
    <effector>l_Head</effector>
    <armjoints>l_J1 l_J2 l_J3</armjoints>
  </Manipulator>
  <Manipulator name="rightarm">
    <base>r_Tail</base>
    <effector>r_Head</effector>
    <armjoints>r_J1 r_J2 r_J3</armjoints>
  </Manipulator>
</Robot>

when I try to run the kinematic generator with the following command:

openrave.py --database inversekinematics --robot=models/ModularHand2-I.robot.xml

I obtain this error sketch:

Generating inverse kinematics for manip leftarm : Transform6D [0, 1, 2] (this might take ~10 min)
Traceback (most recent call last):
  File "/usr/local/bin/openrave.py", line 88, in <module>
    database.run(args=args)
  File "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line 596, in run
    InverseKinematicsModel.RunFromParser(*args,**kwargs)
  File "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line 568, in RunFromParser
    OpenRAVEModel.RunFromParser(Model=Model,parser=parser,args=args,**kwargs)
  File "/usr/local/share/openrave/openravepy/openravepy_ext.py", line 640, in RunFromParser
    model.autogenerate(options=options)
  File "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line 241, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,usedummyjoints=usedummyjoints,accuracy=accuracy,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang)
  File "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line 312, in generate
    raise ValueError('Need %d solve joints, got: %d'%(self.dofexpected, len(solvejoints)))
ValueError: Need 6 solve joints, got: 3

Could you please give me an help?
thanks a lot, Filippo

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Re: Error with Module inversekinematics

Rosen Diankov
Administrator
hi Filippo,

First get rid of the <armjoints> tag. Second, it seems that you are
trying to generate 3D translation IK. In that case, you need to add
this parameter to the command string:

--iktype=translation3d

rosen,

2010/10/23 filipposanfilippo <[hidden email]>:

>
> Hi,
> I have written this xml for a simple manipulator:
>
> <Robot name="schunk-dualarm">
>  <KinBody>
>    <body name="chest">
>      <geom type="box">
>        <extents>0.1 0.02 0.2</extents>
>        <translation>0 0 0.3</translation>
>      </geom>
>    </body>
>    <!-- left arm -->
>    <KinBody prefix="l_" file="modular-finger3.kinbody.xml">
>      <!--RotationAxis>1 0 0 90</RotationAxis-->
>      <translation>0 0.05 0.48</translation>
>    </KinBody>
>    <!-- right arm -->
>    <KinBody prefix="r_" file="modular-finger3.kinbody.xml">
>      <!--RotationAxis>1 0 0 -90</RotationAxis-->
>        <RotationAxis>1 0 0 180</RotationAxis>
>        <RotationAxis>0 1 0 180</RotationAxis>
>      <translation>0 -0.05 0.48</translation>
>    </KinBody>
>    <!-- connect the two arms with dummy joints -->
>    <joint name="leftdummy" type="hinge" enable="false">
>      <body>chest</body>
>      <body>l_Tail</body>
>      <limits>0 0</limits>
>    </joint>
>    <joint name="rightdummy" type="hinge" enable="false">
>      <body>chest</body>
>      <body>r_Tail</body>
>      <limits>0 0</limits>
>    </joint>
>  </KinBody>
>  <!-- define the manipulators -->
>  <Manipulator name="leftarm">
>    <base>l_Tail</base>
>    <effector>l_Head</effector>
>    <armjoints>l_J1 l_J2 l_J3</armjoints>
>  </Manipulator>
>  <Manipulator name="rightarm">
>    <base>r_Tail</base>
>    <effector>r_Head</effector>
>    <armjoints>r_J1 r_J2 r_J3</armjoints>
>  </Manipulator>
> </Robot>
>
> when I try to run the kinematic generator with the following command:
>
> openrave.py --database inversekinematics
> --robot=models/ModularHand2-I.robot.xml
>
> I obtain this error sketch:
>
> Generating inverse kinematics for manip leftarm : Transform6D [0, 1, 2]
> (this might take ~10 min)
> Traceback (most recent call last):
>  File "/usr/local/bin/openrave.py", line 88, in <module>
>    database.run(args=args)
>  File
> "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line
> 596, in run
>    InverseKinematicsModel.RunFromParser(*args,**kwargs)
>  File
> "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line
> 568, in RunFromParser
>
> OpenRAVEModel.RunFromParser(Model=Model,parser=parser,args=args,**kwargs)
>  File "/usr/local/share/openrave/openravepy/openravepy_ext.py", line 640,
> in RunFromParser
>    model.autogenerate(options=options)
>  File
> "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line
> 241, in autogenerate
>
> self.generate(iktype=iktype,freejoints=freejoints,usedummyjoints=usedummyjoints,accuracy=accuracy,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang)
>  File
> "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line
> 312, in generate
>    raise ValueError('Need %d solve joints, got: %d'%(self.dofexpected,
> len(solvejoints)))
> ValueError: Need 6 solve joints, got: 3
>
> Could you please give me an help?
> thanks a lot, Filippo
>
>
> --
> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Error-with-Module-inversekinematics-tp1757686p1757686.html
> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
> Nokia and AT&T present the 2010 Calling All Innovators-North America contest
> Create new apps & games for the Nokia N8 for consumers in  U.S. and Canada
> $10 million total in prizes - $4M cash, 500 devices, nearly $6M in marketing
> Develop with Nokia Qt SDK, Web Runtime, or Java and Publish to Ovi Store
> http://p.sf.net/sfu/nokia-dev2dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>

------------------------------------------------------------------------------
Nokia and AT&T present the 2010 Calling All Innovators-North America contest
Create new apps & games for the Nokia N8 for consumers in  U.S. and Canada
$10 million total in prizes - $4M cash, 500 devices, nearly $6M in marketing
Develop with Nokia Qt SDK, Web Runtime, or Java and Publish to Ovi Store
http://p.sf.net/sfu/nokia-dev2dev
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
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Re: Error with Module inversekinematics

filipposanfilippo
Thanks to Rosen for his answer! I have commented the <armjoints> tag. Then I added the parameter --iktype=translation3d and now the kinematic generator works.
Anyway, when I test the solver (using this command: openrave.py --database inversekinematics --iktype=translation3d --robot=models/ModularHand2-I.robot.xml --iktests=100) I obtain this:

...
inversekinematics generation is done, compiled shared object: /home/filippo/.openrave/kinematics.0f86d575c490d00a67831cecfe686709/ikfast13.Translation3D.i686.so
testing the success rate of robot  models/ModularHand2-I.robot.xml
[xmlreaders.h:2167] <armjoints> for <manipulator> tag is not used anymore
success rate is:  1.0

is it correct?
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Re: Error with Module inversekinematics

Rosen Diankov
Administrator
In reply to this post by Rosen Diankov
hi Filippo,

Glad that it works! Just in case, you might want to try with
--iktests=10000, but otherwise it looks good. Please remove any
remaining <armjoints> tags

rosen,

2010/10/28 Rosen Diankov <[hidden email]>:

> hi Filippo,
>
> First get rid of the <armjoints> tag. Second, it seems that you are
> trying to generate 3D translation IK. In that case, you need to add
> this parameter to the command string:
>
> --iktype=translation3d
>
> rosen,
>
> 2010/10/23 filipposanfilippo <[hidden email]>:
>>
>> Hi,
>> I have written this xml for a simple manipulator:
>>
>> <Robot name="schunk-dualarm">
>>  <KinBody>
>>    <body name="chest">
>>      <geom type="box">
>>        <extents>0.1 0.02 0.2</extents>
>>        <translation>0 0 0.3</translation>
>>      </geom>
>>    </body>
>>    <!-- left arm -->
>>    <KinBody prefix="l_" file="modular-finger3.kinbody.xml">
>>      <!--RotationAxis>1 0 0 90</RotationAxis-->
>>      <translation>0 0.05 0.48</translation>
>>    </KinBody>
>>    <!-- right arm -->
>>    <KinBody prefix="r_" file="modular-finger3.kinbody.xml">
>>      <!--RotationAxis>1 0 0 -90</RotationAxis-->
>>        <RotationAxis>1 0 0 180</RotationAxis>
>>        <RotationAxis>0 1 0 180</RotationAxis>
>>      <translation>0 -0.05 0.48</translation>
>>    </KinBody>
>>    <!-- connect the two arms with dummy joints -->
>>    <joint name="leftdummy" type="hinge" enable="false">
>>      <body>chest</body>
>>      <body>l_Tail</body>
>>      <limits>0 0</limits>
>>    </joint>
>>    <joint name="rightdummy" type="hinge" enable="false">
>>      <body>chest</body>
>>      <body>r_Tail</body>
>>      <limits>0 0</limits>
>>    </joint>
>>  </KinBody>
>>  <!-- define the manipulators -->
>>  <Manipulator name="leftarm">
>>    <base>l_Tail</base>
>>    <effector>l_Head</effector>
>>    <armjoints>l_J1 l_J2 l_J3</armjoints>
>>  </Manipulator>
>>  <Manipulator name="rightarm">
>>    <base>r_Tail</base>
>>    <effector>r_Head</effector>
>>    <armjoints>r_J1 r_J2 r_J3</armjoints>
>>  </Manipulator>
>> </Robot>
>>
>> when I try to run the kinematic generator with the following command:
>>
>> openrave.py --database inversekinematics
>> --robot=models/ModularHand2-I.robot.xml
>>
>> I obtain this error sketch:
>>
>> Generating inverse kinematics for manip leftarm : Transform6D [0, 1, 2]
>> (this might take ~10 min)
>> Traceback (most recent call last):
>>  File "/usr/local/bin/openrave.py", line 88, in <module>
>>    database.run(args=args)
>>  File
>> "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line
>> 596, in run
>>    InverseKinematicsModel.RunFromParser(*args,**kwargs)
>>  File
>> "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line
>> 568, in RunFromParser
>>
>> OpenRAVEModel.RunFromParser(Model=Model,parser=parser,args=args,**kwargs)
>>  File "/usr/local/share/openrave/openravepy/openravepy_ext.py", line 640,
>> in RunFromParser
>>    model.autogenerate(options=options)
>>  File
>> "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line
>> 241, in autogenerate
>>
>> self.generate(iktype=iktype,freejoints=freejoints,usedummyjoints=usedummyjoints,accuracy=accuracy,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang)
>>  File
>> "/usr/local/share/openrave/openravepy/databases/inversekinematics.py", line
>> 312, in generate
>>    raise ValueError('Need %d solve joints, got: %d'%(self.dofexpected,
>> len(solvejoints)))
>> ValueError: Need 6 solve joints, got: 3
>>
>> Could you please give me an help?
>> thanks a lot, Filippo
>>
>>
>> --
>> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Error-with-Module-inversekinematics-tp1757686p1757686.html
>> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>>
>> ------------------------------------------------------------------------------
>> Nokia and AT&T present the 2010 Calling All Innovators-North America contest
>> Create new apps & games for the Nokia N8 for consumers in  U.S. and Canada
>> $10 million total in prizes - $4M cash, 500 devices, nearly $6M in marketing
>> Develop with Nokia Qt SDK, Web Runtime, or Java and Publish to Ovi Store
>> http://p.sf.net/sfu/nokia-dev2dev
>> _______________________________________________
>> Openrave-users mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>
>

------------------------------------------------------------------------------
Nokia and AT&T present the 2010 Calling All Innovators-North America contest
Create new apps & games for the Nokia N8 for consumers in  U.S. and Canada
$10 million total in prizes - $4M cash, 500 devices, nearly $6M in marketing
Develop with Nokia Qt SDK, Web Runtime, or Java and Publish to Ovi Store
http://p.sf.net/sfu/nokia-dev2dev
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
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Re: Error with Module inversekinematics

filipposanfilippo
In reply to this post by filipposanfilippo
Hi, Rosen. Hi think that now it work...and I would like to simulate grasping of objects and computing force closure metrics. I used this comman just for test:

openrave.py --database grasping --target=/usr/local/share/openrave/data/mug1.kinbody.xml --robot=models/ModularHand2-I.robot.xml

I obtained this error:

[openravepy_int.cpp:2557] viewer qtcoin successfully attached
terminate called after throwing an instance of 'OpenRAVE::openrave_exception'
Aborted

Could you please help me?
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Re: Error with Module inversekinematics

Rosen Diankov
Administrator
hi Filippo,

The first thing that comes to mind is that your <manipulator>
definition is missing the gripper joints defined by the <joints> tag
and the <closingdirection> tag that determines the direction the
fingers move.

rosen,

2010/10/29 filipposanfilippo <[hidden email]>:

>
> Hi, Rosen. Hi think that now it work...and I would like to simulate grasping
> of objects and computing force closure metrics. I used this comman just for
> test:
>
> openrave.py --database grasping
> --target=/usr/local/share/openrave/data/mug1.kinbody.xml
> --robot=models/ModularHand2-I.robot.xml
>
> I obtained this error:
>
> [openravepy_int.cpp:2557] viewer qtcoin successfully attached
> terminate called after throwing an instance of
> 'OpenRAVE::openrave_exception'
> Aborted
>
> Could you please help me?
>
> --
> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Error-with-Module-inversekinematics-tp1757686p1792493.html
> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
> Nokia and AT&T present the 2010 Calling All Innovators-North America contest
> Create new apps & games for the Nokia N8 for consumers in  U.S. and Canada
> $10 million total in prizes - $4M cash, 500 devices, nearly $6M in marketing
> Develop with Nokia Qt SDK, Web Runtime, or Java and Publish to Ovi Store
> http://p.sf.net/sfu/nokia-dev2dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>

------------------------------------------------------------------------------
Nokia and AT&T present the 2010 Calling All Innovators-North America contest
Create new apps & games for the Nokia N8 for consumers in  U.S. and Canada
$10 million total in prizes - $4M cash, 500 devices, nearly $6M in marketing
Develop with Nokia Qt SDK, Web Runtime, or Java and Publish to Ovi Store
http://p.sf.net/sfu/nokia-dev2dev
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
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Re: Error with Module inversekinematics

filipposanfilippo
Hi Rosen, thanks for your quickly answer!
I have done some changes as you told me. Here the code:

<Robot name="schunk-dualarm">
  <KinBody>
    <body name="chest">
     
                 
         <Geom type="cylinder">
               <RotationMat>1 0 0 0 0 1 0 -1 0</RotationMat>
           <Translation>0 0 0.012</Translation>
           <diffuseColor>0.5 0 0</diffuseColor>
           <radius>0.05</radius>
           <height>0.075</height>
         </Geom>

         <Geom type="box">
           <extents>0.025 0.042 0.1</extents>
           <Translation>0 0 0.08</Translation>
        <RotationAxis>0 0 1 90</RotationAxis>
           <diffusecolor>0 0 0.4</diffusecolor>
         </Geom>
    </body>
   
    <KinBody prefix="l_" file="modular-finger3.kinbody.xml">
     
      <translation>0 0.06 0.16</translation>

    </KinBody>
   
    <KinBody prefix="r_" file="modular-finger3.kinbody.xml">
     
        <RotationAxis>1 0 0 180</RotationAxis>
        <RotationAxis>0 1 0 180</RotationAxis>
      <translation>0 -0.06 0.16</translation>
    </KinBody>
   
    <joint name="leftdummy" type="hinge" enable="false">
      <body>chest</body>
      <body>l_Tail</body>
      <limits>0 0</limits>
    </joint>
    <joint name="rightdummy" type="hinge" enable="false">
      <body>chest</body>
      <body>r_Tail</body>
      <limits>0 0</limits>
    </joint>
  </KinBody>
 
  <Manipulator name="leftarm">
    <base>l_Tail</base>
    <effector>l_Head</effector>
    <joints>l_J1 l_J2 l_J3</joints>
<closingdirection>1 1 1</closingdirection>
    <direction>0 0 1</direction>
  </Manipulator>
  <Manipulator name="rightarm">
    <base>r_Tail</base>
    <effector>r_Head</effector>
    <joints>r_J1 r_J2 r_J3</joints>
<closingdirection>1 1 1</closingdirection>
    <direction>0 0 1</direction>
  </Manipulator>
</Robot>

is it correct?
because when I try to run it using this command:

openrave.py --database grasping --target=/usr/local/share/openrave/data/mug1.kinbody.xml --robot=models/ModularHand2-I.robot.xml

I obtain this error:

[openravepy_int.cpp:2557] viewer qtcoin successfully attached
terminate called after throwing an instance of 'OpenRAVE::openrave_exception'
Aborted

Maybe I made some mistakes in the xml file and also lunching the script. Could you please help me?
Thanks a lot, Filippo
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Re: Error with Module inversekinematics

Rosen Diankov
Administrator
hi Filippo,

Can you add '--debug=verbose' to the command see if anything
interesting pops up?

Also, in case your robot has more manipulators, you should add
'--manipname=leftarm' or '--manipname=rightarm'

can you also open your robot with this command:

openrave.py -i models/ModularHand2-I.robot.xml

This will create a 'robot' variable, which you can use to verify that
all your manipulator information is correct.

rosen,

2010/11/1 filipposanfilippo <[hidden email]>:

>
> Hi Rosen, thanks for your quickly answer!
> I have done some changes as you told me. Here the code:
>
> <Robot name="schunk-dualarm">
>  <KinBody>
>    <body name="chest">
>      <!--geom type="box">
>        <extents>0.1 0.02 0.2</extents>
>        <translation>0 0 0.3</translation>
>      </geom-->
>
>         <Geom type="cylinder">
>               <RotationMat>1 0 0 0 0 1 0 -1 0</RotationMat>
>           <Translation>0 0 0.012</Translation>
>           <diffuseColor>0.5 0 0</diffuseColor>
>           <radius>0.05</radius>
>           <height>0.075</height>
>         </Geom>
>
>         <Geom type="box">
>           <extents>0.025 0.042 0.1</extents>
>           <Translation>0 0 0.08</Translation>
>        <RotationAxis>0 0 1 90</RotationAxis>
>           <diffusecolor>0 0 0.4</diffusecolor>
>         </Geom>
>    </body>
>    <!-- left arm -->
>    <KinBody prefix="l_" file="modular-finger3.kinbody.xml">
>      <!--RotationAxis>1 0 0 90</RotationAxis-->
>      <translation>0 0.06 0.16</translation>
> <!--translation>0 0.05 0.48</translation-->
>    </KinBody>
>    <!-- right arm -->
>    <KinBody prefix="r_" file="modular-finger3.kinbody.xml">
>      <!--RotationAxis>1 0 0 -90</RotationAxis-->
>        <RotationAxis>1 0 0 180</RotationAxis>
>        <RotationAxis>0 1 0 180</RotationAxis>
>      <translation>0 -0.06 0.16</translation>
>    </KinBody>
>    <!-- connect the two arms with dummy joints -->
>    <joint name="leftdummy" type="hinge" enable="false">
>      <body>chest</body>
>      <body>l_Tail</body>
>      <limits>0 0</limits>
>    </joint>
>    <joint name="rightdummy" type="hinge" enable="false">
>      <body>chest</body>
>      <body>r_Tail</body>
>      <limits>0 0</limits>
>    </joint>
>  </KinBody>
>  <!-- define the manipulators -->
>  <Manipulator name="leftarm">
>    <base>l_Tail</base>
>    <effector>l_Head</effector>
>    <joints>l_J1 l_J2 l_J3</joints>
> <closingdirection>1 1 1</closingdirection>
>    <direction>0 0 1</direction>
>  </Manipulator>
>  <Manipulator name="rightarm">
>    <base>r_Tail</base>
>    <effector>r_Head</effector>
>    <joints>r_J1 r_J2 r_J3</joints>
> <closingdirection>1 1 1</closingdirection>
>    <direction>0 0 1</direction>
>  </Manipulator>
> </Robot>
>
> is it correct?
> because when I try to run it using this command:
>
> openrave.py --database grasping
> --target=/usr/local/share/openrave/data/mug1.kinbody.xml
> --robot=models/ModularHand2-I.robot.xml
>
> I obtain this error:
>
> [openravepy_int.cpp:2557] viewer qtcoin successfully attached
> terminate called after throwing an instance of
> 'OpenRAVE::openrave_exception'
> Aborted
>
> Maybe I made some mistakes in the xml file and also lunching the script.
> Could you please help me?
> Thanks a lot, Filippo
>
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>
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Centralized Desktop Delivery: Dell and VMware Reference Architecture
Simplifying enterprise desktop deployment and management using
Dell EqualLogic storage and VMware View: A highly scalable, end-to-end
client virtualization framework. Read more!
http://p.sf.net/sfu/dell-eql-dev2dev
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