Problem with the new IKFast

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Problem with the new IKFast

achint
Hi Rosen
I am not being able to use the new ikfast to generate an IK file for a Schunk manipulator. Howveer, I am able to generate an IK solution with the same schunk kinbody and robot file in an earlier (October 09) version of Openrave.

This is the command that I use:
./openrave --generateik robot robots/Schunk1.robot.xml freeparam 1 manipulator 0 output ik_Schunk.cpp

And this is the response that I get:
[environment.h:81] could not find OPENRAVE_DATA variable, setting to /home/aaggarwal/openrave2010/openrave/localinstall/share/openrave
[plugindatabase.h:170] Failed to create name ode, interface collisionchecker
[plugindatabase.h:170] Failed to create name bullet, interface collisionchecker
[plugindatabase.h:170] Failed to create name pqp, interface collisionchecker
[environment.h:137] failed to find any collision checker.
[plugindatabase.h:170] Failed to create name IKFast, interface probleminstance
[environment.h:1473] Failed to load IKFast problem
[plugindatabase.h:170] Failed to create name GenericRobot, interface robot
[plugindatabase.h:170] Failed to create name ikfast, interface probleminstance
[xmlreaders.h:1976] Failed to load IKFast problem
[xmlreaders.h:1982] failed to create iksolver Schunkikfast 0.1
[plugindatabase.h:170] Failed to create name IdealController, interface controller
[plugindatabase.h:170] Failed to create name ControllerPD, interface controller
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[environment.h:597] body Schunk not added to enviornment!
[openrave.cpp:341] executing: /usr/bin/python2.6 "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py" --fkfile=/home/aaggarwal/.openrave/ikjN4yjW --baselink=0 --eelink=7 --savefile=ik_Schunk.cpp  --freeparam=0  --usedummyjoints 1 2 3 4 5 6
[openrave.cpp:342] generating ik could take up to 10 minutes...
/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/metaclass.py:22: DeprecationWarning: object.__new__() takes no parameters
  self = super(InstanceTracker, cls).__new__(*args, **kwargs)
moved translation  [0, 0, 0] to right end
moved translation  [0, 260.000000000000000000000000000, 0] to left end
moved translation on intersecting axis  [0, 276.500000000000000000000000000, 0] to left
Traceback (most recent call last):
  File "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py", line 2596, in <module>
    code = kinematics.generateIkSolver(options.baselink,options.eelink,solvejoints,options.freeparams,options.usedummyjoints,solvefn=solvefn)
  File "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py", line 1015, in generateIkSolver
    return self.generateIkSolverChain(chain,solvefn)
  File "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py", line 1026, in generateIkSolverChain
    chaintree = solvefn(self,chain, Tee)
  File "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py", line 1397, in solveFullIK_6D
    LinksAccumLeftAll = map(lambda T: self.affineSimplify(T), LinksAccumLeftAll)
  File "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py", line 1397, in <lambda>
    LinksAccumLeftAll = map(lambda T: self.affineSimplify(T), LinksAccumLeftAll)
  File "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py", line 1095, in affineSimplify
    values = map(lambda x: self.chop(trigsimp(trigsimp(self.chop(trigsimp(x),precision,accuracy=accuracy))),precision,accuracy=accuracy), T)
  File "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py", line 1095, in <lambda>
    values = map(lambda x: self.chop(trigsimp(trigsimp(self.chop(trigsimp(x),precision,accuracy=accuracy))),precision,accuracy=accuracy), T)
  File "/var/lib/python-support/python2.6/sympy/simplify/simplify.py", line 795, in trigsimp
    m = expr.match(pattern)
  File "/var/lib/python-support/python2.6/sympy/core/basic.py", line 1296, in match
    return pattern.matches(self, {})
  File "/var/lib/python-support/python2.6/sympy/core/operations.py", line 133, in _matches_commutative
    d1 = w.matches(last_op, repl_dict)
  File "/var/lib/python-support/python2.6/sympy/core/symbol.py", line 158, in matches
    if x in expr:
  File "/var/lib/python-support/python2.6/sympy/core/basic.py", line 1025, in __contains__
    if what in x:
  File "/var/lib/python-support/python2.6/sympy/core/basic.py", line 1023, in __contains__
    if self == what: return True
  File "/var/lib/python-support/python2.6/sympy/core/numbers.py", line 367, in __eq__
    if other.is_comparable: other = other.evalf()
TypeError: unbound method Basic_evalf() must be called with cos instance as first argument (got nothing instead)
[openrave.cpp:356] ikfast failed for robot robots/Schunk1.robot.xml


Can you help me with this?

Thanks
Achint

 
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Re: Problem with the new IKFast

Rosen Diankov
Administrator
hi achint,

according to your files, you have sympy installed in

/var/lib/python-support/python2.6/sympy/

openrave uses a modified version of sympy that is stored in
share/openrave/sympy..... can you try uninstalling your current sympy
version? if that works, then i can rename the openrave copy to
something different

rosen,

2010/1/13 achint aggarwal <[hidden email]>:

> Hi Rosen
> I am not being able to use the new ikfast to generate an IK file for a
> Schunk manipulator. Howveer, I am able to generate an IK solution with the
> same schunk kinbody and robot file in an earlier (October 09) version of
> Openrave.
>
> This is the command that I use:
> ./openrave --generateik robot robots/Schunk1.robot.xml freeparam 1
> manipulator 0 output ik_Schunk.cpp
>
> And this is the response that I get:
> [environment.h:81] could not find OPENRAVE_DATA variable, setting to
> /home/aaggarwal/openrave2010/openrave/localinstall/share/openrave
> [plugindatabase.h:170] Failed to create name ode, interface collisionchecker
> [plugindatabase.h:170] Failed to create name bullet, interface
> collisionchecker
> [plugindatabase.h:170] Failed to create name pqp, interface collisionchecker
> [environment.h:137] failed to find any collision checker.
> [plugindatabase.h:170] Failed to create name IKFast, interface
> probleminstance
> [environment.h:1473] Failed to load IKFast problem
> [plugindatabase.h:170] Failed to create name GenericRobot, interface robot
> [plugindatabase.h:170] Failed to create name ikfast, interface
> probleminstance
> [xmlreaders.h:1976] Failed to load IKFast problem
> [xmlreaders.h:1982] failed to create iksolver Schunkikfast 0.1
> [plugindatabase.h:170] Failed to create name IdealController, interface
> controller
> [plugindatabase.h:170] Failed to create name ControllerPD, interface
> controller
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [environment.h:597] body Schunk not added to enviornment!
> [openrave.cpp:341] executing: /usr/bin/python2.6
> "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py"
> --fkfile=/home/aaggarwal/.openrave/ikjN4yjW --baselink=0 --eelink=7
> --savefile=ik_Schunk.cpp  --freeparam=0  --usedummyjoints 1 2 3 4 5 6
> [openrave.cpp:342] generating ik could take up to 10 minutes...
> /home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/metaclass.py:22:
> DeprecationWarning: object.__new__() takes no parameters
>   self = super(InstanceTracker, cls).__new__(*args, **kwargs)
> moved translation  [0, 0, 0] to right end
> moved translation  [0, 260.000000000000000000000000000, 0] to left end
> moved translation on intersecting axis  [0, 276.500000000000000000000000000,
> 0] to left
> Traceback (most recent call last):
>   File
> "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
> line 2596, in <module>
>     code =
> kinematics.generateIkSolver(options.baselink,options.eelink,solvejoints,options.freeparams,options.usedummyjoints,solvefn=solvefn)
>   File
> "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
> line 1015, in generateIkSolver
>     return self.generateIkSolverChain(chain,solvefn)
>   File
> "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
> line 1026, in generateIkSolverChain
>     chaintree = solvefn(self,chain, Tee)
>   File
> "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
> line 1397, in solveFullIK_6D
>     LinksAccumLeftAll = map(lambda T: self.affineSimplify(T),
> LinksAccumLeftAll)
>   File
> "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
> line 1397, in <lambda>
>     LinksAccumLeftAll = map(lambda T: self.affineSimplify(T),
> LinksAccumLeftAll)
>   File
> "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
> line 1095, in affineSimplify
>     values = map(lambda x:
> self.chop(trigsimp(trigsimp(self.chop(trigsimp(x),precision,accuracy=accuracy))),precision,accuracy=accuracy),
> T)
>   File
> "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
> line 1095, in <lambda>
>     values = map(lambda x:
> self.chop(trigsimp(trigsimp(self.chop(trigsimp(x),precision,accuracy=accuracy))),precision,accuracy=accuracy),
> T)
>   File "/var/lib/python-support/python2.6/sympy/simplify/simplify.py", line
> 795, in trigsimp
>     m = expr.match(pattern)
>   File "/var/lib/python-support/python2.6/sympy/core/basic.py", line 1296,
> in match
>     return pattern.matches(self, {})
>   File "/var/lib/python-support/python2.6/sympy/core/operations.py", line
> 133, in _matches_commutative
>     d1 = w.matches(last_op, repl_dict)
>   File "/var/lib/python-support/python2.6/sympy/core/symbol.py", line 158,
> in matches
>     if x in expr:
>   File "/var/lib/python-support/python2.6/sympy/core/basic.py", line 1025,
> in __contains__
>     if what in x:
>   File "/var/lib/python-support/python2.6/sympy/core/basic.py", line 1023,
> in __contains__
>     if self == what: return True
>   File "/var/lib/python-support/python2.6/sympy/core/numbers.py", line 367,
> in __eq__
>     if other.is_comparable: other = other.evalf()
> TypeError: unbound method Basic_evalf() must be called with cos instance as
> first argument (got nothing instead)
> [openrave.cpp:356] ikfast failed for robot robots/Schunk1.robot.xml
>
>
> Can you help me with this?
>
> Thanks
> Achint
>
>
>
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Re: Problem with the new IKFast

Rosen Diankov
Administrator
hi Achint,

Glad to know it started working for you! As of r1158, you won't need
to set your PYTHONPATH when running --generateik.

thanks!
rosen,

2010/1/13 achint aggarwal <[hidden email]>:

> Hey
> I do have
> /home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/sympy
>
> but I had to start setting my PYTHONPATH to the
> localinstall/share/openrave/openravepy folder..otherwise it wont find
> openravepy.so and would return "no module named openravepy" while running
> python scripts..
>
> But, the ikfast works now with the openrave/localinstall/share/openrave
> PYTHONPATH!!
>
> Cool!!
>
> Thanks
> Achint
>
>
>
>
> On Wed, Jan 13, 2010 at 10:16 AM, Rosen Diankov <[hidden email]>
> wrote:
>>
>> hi achint,
>>
>> just curious, do you have
>>
>> /home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/sympy
>>
>> and is your PYTHONPATH set to
>> /home/aaggarwal/openrave2010/openrave/localinstall/share/openrave?
>>
>> rosen,
>>
>> 2010/1/13 achint aggarwal <[hidden email]>:
>> > Hey
>> > I was actually getting a  "No module named sympy error" earlier and then
>> > I
>> > installed sympy..
>> >
>> > ANyways..I just uninstalled it now and Im getting this error:
>> >
>> > [openrave.cpp:342] generating ik could take up to 10 minutes...
>> > Traceback (most recent call last):
>> >   File
>> >
>> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
>> > line 20, in <module>
>> >     from sympy import *
>> > ImportError: No module named sympy
>> >
>> > Achint
>> >
>> >
>> > On Wed, Jan 13, 2010 at 10:02 AM, Rosen Diankov
>> > <[hidden email]>
>> > wrote:
>> >>
>> >> hi achint,
>> >>
>> >> according to your files, you have sympy installed in
>> >>
>> >> /var/lib/python-support/python2.6/sympy/
>> >>
>> >> openrave uses a modified version of sympy that is stored in
>> >> share/openrave/sympy..... can you try uninstalling your current sympy
>> >> version? if that works, then i can rename the openrave copy to
>> >> something different
>> >>
>> >> rosen,
>> >>
>> >> 2010/1/13 achint aggarwal <[hidden email]>:
>> >> > Hi Rosen
>> >> > I am not being able to use the new ikfast to generate an IK file for
>> >> > a
>> >> > Schunk manipulator. Howveer, I am able to generate an IK solution
>> >> > with
>> >> > the
>> >> > same schunk kinbody and robot file in an earlier (October 09) version
>> >> > of
>> >> > Openrave.
>> >> >
>> >> > This is the command that I use:
>> >> > ./openrave --generateik robot robots/Schunk1.robot.xml freeparam 1
>> >> > manipulator 0 output ik_Schunk.cpp
>> >> >
>> >> > And this is the response that I get:
>> >> > [environment.h:81] could not find OPENRAVE_DATA variable, setting to
>> >> > /home/aaggarwal/openrave2010/openrave/localinstall/share/openrave
>> >> > [plugindatabase.h:170] Failed to create name ode, interface
>> >> > collisionchecker
>> >> > [plugindatabase.h:170] Failed to create name bullet, interface
>> >> > collisionchecker
>> >> > [plugindatabase.h:170] Failed to create name pqp, interface
>> >> > collisionchecker
>> >> > [environment.h:137] failed to find any collision checker.
>> >> > [plugindatabase.h:170] Failed to create name IKFast, interface
>> >> > probleminstance
>> >> > [environment.h:1473] Failed to load IKFast problem
>> >> > [plugindatabase.h:170] Failed to create name GenericRobot, interface
>> >> > robot
>> >> > [plugindatabase.h:170] Failed to create name ikfast, interface
>> >> > probleminstance
>> >> > [xmlreaders.h:1976] Failed to load IKFast problem
>> >> > [xmlreaders.h:1982] failed to create iksolver Schunkikfast 0.1
>> >> > [plugindatabase.h:170] Failed to create name IdealController,
>> >> > interface
>> >> > controller
>> >> > [plugindatabase.h:170] Failed to create name ControllerPD, interface
>> >> > controller
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [environment.h:597] body Schunk not added to enviornment!
>> >> > [openrave.cpp:341] executing: /usr/bin/python2.6
>> >> >
>> >> >
>> >> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py"
>> >> > --fkfile=/home/aaggarwal/.openrave/ikjN4yjW --baselink=0 --eelink=7
>> >> > --savefile=ik_Schunk.cpp  --freeparam=0  --usedummyjoints 1 2 3 4 5 6
>> >> > [openrave.cpp:342] generating ik could take up to 10 minutes...
>> >> >
>> >> >
>> >> > /home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/metaclass.py:22:
>> >> > DeprecationWarning: object.__new__() takes no parameters
>> >> >   self = super(InstanceTracker, cls).__new__(*args, **kwargs)
>> >> > moved translation  [0, 0, 0] to right end
>> >> > moved translation  [0, 260.000000000000000000000000000, 0] to left
>> >> > end
>> >> > moved translation on intersecting axis  [0,
>> >> > 276.500000000000000000000000000,
>> >> > 0] to left
>> >> > Traceback (most recent call last):
>> >> >   File
>> >> >
>> >> >
>> >> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
>> >> > line 2596, in <module>
>> >> >     code =
>> >> >
>> >> >
>> >> > kinematics.generateIkSolver(options.baselink,options.eelink,solvejoints,options.freeparams,options.usedummyjoints,solvefn=solvefn)
>> >> >   File
>> >> >
>> >> >
>> >> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
>> >> > line 1015, in generateIkSolver
>> >> >     return self.generateIkSolverChain(chain,solvefn)
>> >> >   File
>> >> >
>> >> >
>> >> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
>> >> > line 1026, in generateIkSolverChain
>> >> >     chaintree = solvefn(self,chain, Tee)
>> >> >   File
>> >> >
>> >> >
>> >> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
>> >> > line 1397, in solveFullIK_6D
>> >> >     LinksAccumLeftAll = map(lambda T: self.affineSimplify(T),
>> >> > LinksAccumLeftAll)
>> >> >   File
>> >> >
>> >> >
>> >> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
>> >> > line 1397, in <lambda>
>> >> >     LinksAccumLeftAll = map(lambda T: self.affineSimplify(T),
>> >> > LinksAccumLeftAll)
>> >> >   File
>> >> >
>> >> >
>> >> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
>> >> > line 1095, in affineSimplify
>> >> >     values = map(lambda x:
>> >> >
>> >> >
>> >> > self.chop(trigsimp(trigsimp(self.chop(trigsimp(x),precision,accuracy=accuracy))),precision,accuracy=accuracy),
>> >> > T)
>> >> >   File
>> >> >
>> >> >
>> >> > "/home/aaggarwal/openrave2010/openrave/localinstall/share/openrave/openravepy/ikfast.py",
>> >> > line 1095, in <lambda>
>> >> >     values = map(lambda x:
>> >> >
>> >> >
>> >> > self.chop(trigsimp(trigsimp(self.chop(trigsimp(x),precision,accuracy=accuracy))),precision,accuracy=accuracy),
>> >> > T)
>> >> >   File
>> >> > "/var/lib/python-support/python2.6/sympy/simplify/simplify.py",
>> >> > line
>> >> > 795, in trigsimp
>> >> >     m = expr.match(pattern)
>> >> >   File "/var/lib/python-support/python2.6/sympy/core/basic.py", line
>> >> > 1296,
>> >> > in match
>> >> >     return pattern.matches(self, {})
>> >> >   File "/var/lib/python-support/python2.6/sympy/core/operations.py",
>> >> > line
>> >> > 133, in _matches_commutative
>> >> >     d1 = w.matches(last_op, repl_dict)
>> >> >   File "/var/lib/python-support/python2.6/sympy/core/symbol.py", line
>> >> > 158,
>> >> > in matches
>> >> >     if x in expr:
>> >> >   File "/var/lib/python-support/python2.6/sympy/core/basic.py", line
>> >> > 1025,
>> >> > in __contains__
>> >> >     if what in x:
>> >> >   File "/var/lib/python-support/python2.6/sympy/core/basic.py", line
>> >> > 1023,
>> >> > in __contains__
>> >> >     if self == what: return True
>> >> >   File "/var/lib/python-support/python2.6/sympy/core/numbers.py",
>> >> > line
>> >> > 367,
>> >> > in __eq__
>> >> >     if other.is_comparable: other = other.evalf()
>> >> > TypeError: unbound method Basic_evalf() must be called with cos
>> >> > instance
>> >> > as
>> >> > first argument (got nothing instead)
>> >> > [openrave.cpp:356] ikfast failed for robot robots/Schunk1.robot.xml
>> >> >
>> >> >
>> >> > Can you help me with this?
>> >> >
>> >> > Thanks
>> >> > Achint
>> >> >
>> >> >
>> >> >
>> >> >
>> >> >
>> >> > ------------------------------------------------------------------------------
>> >> > This SF.Net email is sponsored by the Verizon Developer Community
>> >> > Take advantage of Verizon's best-in-class app development support
>> >> > A streamlined, 14 day to market process makes app distribution fast
>> >> > and
>> >> > easy
>> >> > Join now and get one step closer to millions of Verizon customers
>> >> > http://p.sf.net/sfu/verizon-dev2dev
>> >> > _______________________________________________
>> >> > Openrave-users mailing list
>> >> > [hidden email]
>> >> > https://lists.sourceforge.net/lists/listinfo/openrave-users
>> >> >
>> >> >
>> >
>> >
>
>


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Re: Problem with the new IKFast

Eohan
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Re: Problem with the new IKFast

Rosen Diankov
Administrator
hi eohan,
It looks like openrave is failing to load all your plugins, can you
run all the demos correctly?
Once you solve these installation issues, you should be able to
generate the ikfast solver using:

cd XX/share/openrave/openravepy/examples
python inversekinematics.py --robot=robots/katana.robot.xml

rosen,

2010/3/12 Eohan <[hidden email]>:

> Hi, I am having the same trouble with the ikfast module. Basically, I am
> trying to create ik for a robot. Running the generateik on the robot gives
> the same error as the one with the robot provided alongwith the openrave
> software. openrave --generateik robot ../robots/katana.kinbody.xml
> manipulator 6 output ik_katana.cpp But obtain the following error. I have
> recently started using the software. Kindly apologize if i missed an obvious
> step. [plugindatabase.h:170] Failed to create name ode, interface
> collisionchecker [plugindatabase.h:170] Failed to create name bullet,
> interface collisionchecker [plugindatabase.h:170] Failed to create name pqp,
> interface collisionchecker [environment.h:125] failed to find any collision
> checker. [plugindatabase.h:170] Failed to create name IKFast, interface
> probleminstance [environment.h:1471] Failed to load IKFast problem
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment!
> [environment.h:591] body Katana6M180 not added to enviornment! Kindly let me
> know the resolution for the same. Eohan
> ________________________________
> View this message in context: Re: Problem with the new IKFast
> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
> Download Intel&#174; Parallel Studio Eval
> Try the new software tools for yourself. Speed compiling, find bugs
> proactively, and fine-tune applications for parallel performance.
> See why Intel Parallel Studio got high marks during beta.
> http://p.sf.net/sfu/intel-sw-dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>
>

------------------------------------------------------------------------------
Download Intel&#174; Parallel Studio Eval
Try the new software tools for yourself. Speed compiling, find bugs
proactively, and fine-tune applications for parallel performance.
See why Intel Parallel Studio got high marks during beta.
http://p.sf.net/sfu/intel-sw-dev
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
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Re: Problem with the new IKFast

Eohan
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Re: Problem with the new IKFast

Rosen Diankov
Administrator
hi eohan,
The ikfast script is written to work independently of openravepy, this
makes it easier to copy and use elsewhere. The inversekinematics.py
file takes care of binding openrave robots and ikfast so the user
doesn't have to worry about specifying kinematics manually. In other
words, use inversekinematics.py.
rosen,

2010/3/13 Eohan <[hidden email]>:

> Hi Rosen,
> I can run most of the demos correctly. Shouldn't I run the ikfast script on
> the robot kinbody before  i run inversekinematics.py ?
> What is the functionality of ikfast and inversekinematics ?
> Eohan
>
> On 11 March 2010 18:04, Rosen Diankov [via OpenRAVE Users List] <[hidden
> email]> wrote:
>>
>> hi eohan,
>> It looks like openrave is failing to load all your plugins, can you
>> run all the demos correctly?
>> Once you solve these installation issues, you should be able to
>> generate the ikfast solver using:
>>
>> cd XX/share/openrave/openravepy/examples
>> python inversekinematics.py --robot=robots/katana.robot.xml
>>
>> rosen,
>>
>> 2010/3/12 Eohan <[hidden email]>:
>> > Hi, I am having the same trouble with the ikfast module. Basically, I am
>> > trying to create ik for a robot. Running the generateik on the robot
>> > gives
>> > the same error as the one with the robot provided alongwith the openrave
>> > software. openrave --generateik robot ../robots/katana.kinbody.xml
>> > manipulator 6 output ik_katana.cpp But obtain the following error. I
>> > have
>> > recently started using the software. Kindly apologize if i missed an
>> > obvious
>> > step. [plugindatabase.h:170] Failed to create name ode, interface
>> > collisionchecker [plugindatabase.h:170] Failed to create name bullet,
>> > interface collisionchecker [plugindatabase.h:170] Failed to create name
>> > pqp,
>> > interface collisionchecker [environment.h:125] failed to find any
>> > collision
>> > checker. [plugindatabase.h:170] Failed to create name IKFast, interface
>> > probleminstance [environment.h:1471] Failed to load IKFast problem
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment!
>> > [environment.h:591] body Katana6M180 not added to enviornment! Kindly
>> > let me
>> > know the resolution for the same. Eohan
>> > ________________________________
>> > View this message in context: Re: Problem with the new IKFast
>> > Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>> >
>> >
>> > ------------------------------------------------------------------------------
>> > Download Intel® Parallel Studio Eval
>> > Try the new software tools for yourself. Speed compiling, find bugs
>> > proactively, and fine-tune applications for parallel performance.
>> > See why Intel Parallel Studio got high marks during beta.
>> > http://p.sf.net/sfu/intel-sw-dev
>> > _______________________________________________
>> > Openrave-users mailing list
>> > [hidden email]
>> > https://lists.sourceforge.net/lists/listinfo/openrave-users
>> >
>> >
>>
>> ------------------------------------------------------------------------------
>> Download Intel® Parallel Studio Eval
>> Try the new software tools for yourself. Speed compiling, find bugs
>> proactively, and fine-tune applications for parallel performance.
>> See why Intel Parallel Studio got high marks during beta.
>> http://p.sf.net/sfu/intel-sw-dev
>> _______________________________________________
>> Openrave-users mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>
>
>
> --
> Eohan George
> Ph: 540 233 6426
> Atlanta,
> United States
>
> ________________________________
> View this message in context: Re: Problem with the new IKFast
> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
> Download Intel&#174; Parallel Studio Eval
> Try the new software tools for yourself. Speed compiling, find bugs
> proactively, and fine-tune applications for parallel performance.
> See why Intel Parallel Studio got high marks during beta.
> http://p.sf.net/sfu/intel-sw-dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>
>

------------------------------------------------------------------------------
Download Intel&#174; Parallel Studio Eval
Try the new software tools for yourself. Speed compiling, find bugs
proactively, and fine-tune applications for parallel performance.
See why Intel Parallel Studio got high marks during beta.
http://p.sf.net/sfu/intel-sw-dev
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users