Getting raise PlanningError('MoveActiveJoints').

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Getting raise PlanningError('MoveActiveJoints').

serna92
Hello,

I'm using ubuntu 16.04.2 and when I execute the next code:

from openravepy import *

env = Environment()
env.SetViewer('qtcoin')
env.Load('definitivo/entornoAsibot/asibot_kitchen.env.xml')

robot = env.GetRobots()[0]
basemanip = interfaces.BaseManipulation(robot, plannername = 'BiRRT')

goal = [102.094757077, 9.54676530905, 109.541116176, -29.0878814851, 0.0]

with robot: 
	robot.SetActiveDOFValues(goal) 
        check = env.CheckCollision(robot) 
        print check 

traj = basemanip.MoveManipulator(goal = goal,execute = False,maxiter=3000,steplength=0.15,maxtries=2)
raveLogInfo('traj has %d waypoints, last waypoint is: %s'%(traj.GetNumWaypoints(),repr(traj.GetWaypoint(-1))))

I get the following output:

2017-05-06 16:20:15,546 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 0 value is not in limits 1.020948e+02<3.141593e+00
2017-05-06 16:20:15,546 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 1 value is not in limits 9.546765e+00<2.356194e+00
2017-05-06 16:20:15,546 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 2 value is not in limits 1.095411e+02<2.356194e+00
2017-05-06 16:20:15,546 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 3 value is not in limits -2.908788e+01<-2.356194e+00
True
2017-05-06 16:20:15,548 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 0 value is not in limits 1.020948e+02<3.141593e+00
2017-05-06 16:20:15,548 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 1 value is not in limits 9.546765e+00<2.356194e+00
2017-05-06 16:20:15,548 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 2 value is not in limits 1.095411e+02<2.356194e+00
2017-05-06 16:20:15,548 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 3 value is not in limits -2.908788e+01<-2.356194e+00
2017-05-06 16:20:15,685 openrave [WARN] [basemanipulation.cpp:481 MoveActiveJoints] jitter failed 0
Traceback (most recent call last):
  File "definitivo/programas/pick_can.py", line 77, in <module>
    traj = basemanip.MoveManipulator(goal = goal,execute = False,maxiter=3000,steplength=0.15,maxtries=2)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 121, in MoveManipulator
    return self._MoveJoints('MoveManipulator',goal=goal,steplength=steplength,maxiter=maxiter,maxtries=maxtries,execute=execute,outputtraj=outputtraj,goals=goals,outputtrajobj=outputtrajobj,jitter=jitter,releasegil=releasegil)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 166, in _MoveJoints
    raise PlanningError('MoveActiveJoints')
openravepy._openravepy_.openravepy_ext.PlanningError: Planning Error
MoveActiveJoints

What is wrong?

Thanks.
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Re: Getting raise PlanningError('MoveActiveJoints').

serna92
Using Ipython and following each step I got the next error:

openrave_exception                        Traceback (most recent call last)
<ipython-input-46-0fa49dc1bf48> in <module>()
----> 1 res = prob.SendCommand(cmd,releasegil=False)

openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:648] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::RobotBase; typename boost::detail::sp_member_access<T>::type = OpenRAVE::RobotBase*], expr: px != 0

How can I solve it?
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Re: Getting raise PlanningError('MoveActiveJoints').

jgvictores
1) Can you make this error replicable with a robot from the default OpenRAVE database? It's always easier to help if you at least provide links to the resources you are using.
2) I may be wrong, but I believe GitHub is a much better place to discuss code. I'd close discussion here and post on https://github.com/rdiankov/openrave/issues