Hi,
I'm experiencing some weird problems with planning for our robot using circular joints. I defined the robot with 6 DOF (6 hinge joints, each circular="true"). Now I set <limitsdeg>-180 180</limitsdeg> for each joint, although it shouldn't make a difference as circular joints push the limits to -10000 to 10000 iirc. That's also the values I get from robot->GetActiveDOFLimits(..) Planning a path (using BaseManipulation) fails very often though, alhough IK is solved. The error always is: [rplanners.h:682] -> Node* SpatialTree<Node>::_InsertNode(SpatialTree<Node>::NodePtr, const std::vector<double>&, uint32_t) [with Node = SimpleNode; SpatialTree<Node>::NodePtr = SimpleNode*; uint32_t = unsigned int], expr: nParentFound!=0 The strange thing is, if I set <limitsdeg>-360 360</limitsdeg> then the planner works fine. I even increased them to -540_540 for testing, and now other paths were planned than before (some weird ones rotating all the joints like crazy while the target was simply "down 10cm"; this was an almost straight path when using -360_360). So apparently there is some bug with circular joints? Or do I need to adjust more parameters for the planner? I'm on master branch, latest commit. If required, I'll strip my code and provide an example plugin, also with the robot file if necessary. But maybe you already have an idea where to look? :) Thanks! Cheers, Bahram ------------------------------------------------------------------------------ _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
Just in case someone was interested: The problem is not with circular
joints, but with SpatialTree. See https://github.com/rdiankov/openrave/issues/323 Cheers, Bahram On 08/16/2014 06:53 PM, Bahram Maleki-Fard wrote: > Hi, > > I'm experiencing some weird problems with planning for our robot using > circular joints. > I defined the robot with 6 DOF (6 hinge joints, each circular="true"). > Now I set <limitsdeg>-180 180</limitsdeg> for each joint, although it > shouldn't make a difference as circular joints push the limits to -10000 > to 10000 iirc. That's also the values I get from > robot->GetActiveDOFLimits(..) > > Planning a path (using BaseManipulation) fails very often though, > alhough IK is solved. The error always is: > [rplanners.h:682] -> Node* > SpatialTree<Node>::_InsertNode(SpatialTree<Node>::NodePtr, const > std::vector<double>&, uint32_t) [with Node = SimpleNode; > SpatialTree<Node>::NodePtr = SimpleNode*; uint32_t = unsigned int], > expr: nParentFound!=0 > > The strange thing is, if I set <limitsdeg>-360 360</limitsdeg> then the > planner works fine. I even increased them to -540_540 for testing, and > now other paths were planned than before (some weird ones rotating all > the joints like crazy while the target was simply "down 10cm"; this was > an almost straight path when using -360_360). > > So apparently there is some bug with circular joints? Or do I need to > adjust more parameters for the planner? > > I'm on master branch, latest commit. > > If required, I'll strip my code and provide an example plugin, also with > the robot file if necessary. But maybe you already have an idea where to > look? :) > > > Thanks! > > Cheers, > Bahram > > ------------------------------------------------------------------------------ > _______________________________________________ > Openrave-users mailing list > [hidden email] > https://lists.sourceforge.net/lists/listinfo/openrave-users ------------------------------------------------------------------------------ Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
Free forum by Nabble | Edit this page |