Hi Rosen,
I am trying to move my arm after grasping the object using the following code as per the example given on openrave site:
if movehanddown:
try:
print 'move hand up'
self.basemanip.MoveHandStraight(direction =[0,0,1],stepsize = 0.003,minsteps = 1,maxsteps=100,maxiter=2000)
except:
print 'failed to move up'
self.waitrobot(self.robot) #waits for robot to finish the motion
up_position = deepcopy(goal_config)
up_position[0][3] = up_position[0][3]-0.01
up_position[2][3] = up_position[2][3]+0.01
try:
self.basemanip.MoveToHandPosition(matrices=[up_position])
self.waitrobot(self.robot)
except planning_error,e:
print 'failed to reach a goal,trying to move goal a little up',e
manipulate = self.manipulator.GetTransform()
print manipulate
manipulate[0:3,3]+=np.array([0,0,1])*0.015
print manipulate
try:
self.basemanip.MoveToHandPosition(matrices=[manipulate])
self.waitrobot(self.robot)
except planning_error,e:
print e
I have put goal_config is same as the transformation matrix after it has grasped the object and later manipulated it in up_position.
When I am executing the code, I am consistently getting the following error:
move hand up
failed to move up
[basemanipulation.cpp:753] failed to find goal
failed to reach a goal,trying to move goal a little up openrave planning_error: 'MoveToHandPosition'
[[ 0.32875196 0.20462902 0.92198108 0.27220186]
[-0.84839613 -0.36489854 0.38350106 0.36850414]
[ 0.414905 -0.9082819 0.05364536
0.81090396]
[ 0. 0. 0. 1. ]]
[[ 0.32875196 0.20462902 0.92198108 0.27220186]
[-0.84839613 -0.36489854 0.38350106 0.36850414]
[ 0.414905 -0.9082819 0.05364536
0.82590396]
[ 0. 0. 0. 1. ]]
[basemanipulation.cpp:753] failed to find goal
openrave planning_error: 'MoveToHandPosition'
My questions:
1) Is there a possibility of self collision ? I have already added <adjacent> tags to avoid collision between the joints.
2) Is there a possibility with Inverse Kinematics when I am shifting my goal transformation matrix by a very small distance?
e.g in z direction manipulate[0:3,3]+=np.array([0,0,1])*0.015
3) Is environment locking necessary ? As per the example, environment is not locked when MoveToHandPosition is called.
4) This question is not related to this problem. I wanted to understand the concept of seedik in the taskmanipulator.GraspPlanning. I searched on openrave site, but found only examples of its usage.
Kindly guide me.
Thanking you.
Locked
