Moving the base of HERB to a particular goal position

classic Classic list List threaded Threaded
1 message Options
Reply | Threaded
Open this post in threaded view
|

Moving the base of HERB to a particular goal position

Naman
Hi Guys,

I have just started using OpenRave and I am trying to move the base of the HERB robot to a particular goal position. Here is the part of my code:

goal = [1,1,0]
basemanip = openravepy.interfaces.BaseManipulation(self.robot)
with self.env:
        #self.robot.SetAffineTranslationMaxVels([0.5,0.5,0.5])
        #self.robot.SetAffineRotationAxisMaxVels(np.ones(4))
  self.robot.SetActiveDOFs([],self.robot.DOFAffine.X|self.robot.DOFAffine.Y|self.robot.DOFAffine.RotationAxis,[0,0,1])
  #T = self.robot.GetTransform()
  #goal = np.dot(T[0:3,0:3],localgoal) + T[0:3,3]
         with self.robot:
                 self.robot.SetActiveDOFValues(goal)
                incollision = self.env.CheckCollision(self.robot)
                if incollision:
                         print 'Goal in Collision'
                else:
                        print 'No collision'
basemanip.MoveActiveJoints(goal=goal,maxiter=5000,maxtries=3)

But I am getting the following error:
[rrt.h:377] plan failed, 13.572001s
[basemanipulation.cpp:504] PlanPath failed
[rrt.h:377] plan failed, 13.028001s
[basemanipulation.cpp:504] PlanPath failed
[rrt.h:377] plan failed, 14.782001s
[basemanipulation.cpp:504] PlanPath failed
Traceback (most recent call last):
  File "openrave_tutorial.py", line 110, in <module>
    robo.move_straight(np.pi)
  File "openrave_tutorial.py", line 63, in move_straight
    basemanip.MoveActiveJoints(goal=goal,maxiter=5000,maxtries=3)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 117, in MoveActiveJoints
    return self._MoveJoints('MoveActiveJoints',goal=goal,steplength=steplength,maxiter=maxiter,maxtries=maxtries,execute=execute,outputtraj=outputtraj,goals=goals,outputtrajobj=outputtrajobj,jitter=jitter,releasegil=releasegil,postprocessingplanner=postprocessingplanner,postprocessingparameters=postprocessingparameters)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 148, in _MoveJoints
    raise planning_error('MoveActiveJoints')
openravepy._openravepy_.openravepy_ext.planning_error: openrave planning_error: 'MoveActiveJoints'
[qtcoinrave.cpp:80] SoQt releasing all memory
Coin debug: socontexthandler_cleanup(): 1893 context-bound resources not free'd before exit.



Can anyone throw some light on this issue and how can it be solved?

Thanks in advance.