IndexError: tuple index out of range

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IndexError: tuple index out of range

Nicholas Hansen
Hi Rosen,

Our company is trying to use OpenRAVE for a robot with 2 revolute joints and 2 prismatic joints.
When running the following command we get the subsequent output:

openrave0.8.py --database inversekinematics --robot=tmp.patched.sss.dae --iktype=translationyaxisangle4d --manipname=manipulator

[openravepy_kinbody.cpp:2322] SetActiveManipulator(int) is deprecated
openravepy.databases.inversekinematics: generate, Generating inverse kinematics for manip manipulator: TranslationYAxisAngle4D [0, 1, 2, 3] (this might take up to 10 min)
openravepy.databases.inversekinematics: generate, creating ik file /home/sss/.openrave/kinematics.266729f3914c81e6bc3b47cfe19c8af3/ikfast61.TranslationYAxisAngle4D.0_1_2_3.cpp
/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py:1122: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
openravepy.ikfast: forwardKinematicsChain, moved translation [0, 0, -7/100] to right end
openravepy.ikfast: forwardKinematicsChain, moved translation [0, 0, 3/2] to left end
openravepy.ikfast: forwardKinematicsChain, moved translation on intersecting axis [0, -1/2, 11/500] to left
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, 1, 41/25],[0, -1, 0, 0]]
openravepy.ikfast: generateIkSolver, [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 1, 0, -3/5],[0, 0, 1, 11/500]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, j1]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, j2]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast: generateIkSolver, [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, -11/50]]
openravepy.ikfast: solveFullIK_TranslationAxisAngle4D, ikfast translation axis 4d, globaldir=[0]
[1]
[0], basedir=[0]
[0]
[1]: [j0, j1, j2, j3]
openravepy.ikfast: solveAllEquations, [] [j0, j1, j2, j3]
openravepy.ikfast: solveAllEquations, [j1] [j0, j2, j3]
openravepy.ikfast: solveAllEquations, [j1, j0] [j2, j3]
openravepy.ikfast: solveAllEquations, [j1, j0, j2] [j3]
Traceback (most recent call last):
  File "/usr/bin/openrave0.8.py", line 126, in <module>
    database.run(args=args)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 934, in run
    InverseKinematicsModel.RunFromParser(*args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 906, in RunFromParser
    model = DatabaseGenerator.RunFromParser(Model=Model,parser=parser,robotatts=robotatts,args=args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/__init__.py", line 248, in RunFromParser
    model.autogenerate(options=options)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 510, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 717, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py", line 1639, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 618, in solveFullIK_TranslationYAxisAngle4D
    return self.ikfast.IKFastSolver.solveFullIK_TranslationAxisAngle4D(*args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py", line 2575, in solveFullIK_TranslationAxisAngle4D
    var = polyvars[i].subs(self.invsubs).args[0]
IndexError: tuple index out of range


Do you have any suggestions as to what might be causing this error?

Thanks in advance for any help you can provide.

Nicholas Hansen,
SSS Manufacturing
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