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Problems with Pr2 robot examples

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Problems with Pr2 robot examples

Thomas Baier
Hi Everybody,

i get a error message while executing following standard examples. Could you help me to understand what's the problem is and how to fix it? I think it is realted to the PR2 robot in some way. The Viewer gets started, i can see the robot. But nothing happens.

Examples
Plan to End Effector Position
Inverse Kinematics: Transform6D
Using Link Statistics
Custom IK Filters

Error Message:

Got bus address:  "unix:abstract=/tmp/dbus-hkDOXQ5fCm,guid=ef79003f3477f5651602fcda56cef5d5"
Connected to accessibility bus at:  "unix:abstract=/tmp/dbus-hkDOXQ5fCm,guid=ef79003f3477f5651602fcda56cef5d5"
Registered DEC:  true
Registered event listener change listener:  true
[kinbody.cpp:1470 SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
[kinbody.cpp:1481 SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
[kinbody.cpp:1481 SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
[kinbody.cpp:1481 SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
[kinbody.cpp:1481 SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
getIndicesFromJointNames [12, 17] [u'torso_lift_joint', u'l_upper_arm_roll_joint']
/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py:1454: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
No handlers could be found for logger "openravepy.ikfast"
Traceback (most recent call last):
  File "test.py", line 11, in <module>
    ikmodel.autogenerate()
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 648, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 874, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2274, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 741, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2868, in solveFullIK_6D
    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2956, in TestIntersectingAxes
    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 3129, in solve6DIntersectingAxes
    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6658, in SolveAllEquations
    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 8766, in SolvePairVariables
    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7638, in SolvePairVariablesHalfAngle
    localMall, localallmonoms,localnumrepeating = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6030, in solveDialytically
    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]
  File "/usr/local/lib/python2.7/dist-packages/sympy/matrices/dense.py", line 1229, in zeros
    return cls.zeros(r, c)
  File "/usr/local/lib/python2.7/dist-packages/sympy/matrices/dense.py", line 513, in zeros
    r = as_int(r)
  File "/usr/local/lib/python2.7/dist-packages/sympy/core/compatibility.py", line 389, in as_int
    raise ValueError('%s is not an integer' % n)
TypeError: not all arguments converted during string formatting
[qtcoinrave.cpp:80 DestroyPlugin] SoQt releasing all memory
Coin debug: socontexthandler_cleanup(): 237 context-bound resources not free'd before exit.
QThreadStorage: Thread 0x7ff62000c190 exited after QThreadStorage 8 destroyed
QThreadStorage: Thread 0x7ff62000c190 exited after QThreadStorage 7 destroyed
QThreadStorage: Thread 0x7ff62000c190 exited after QThreadStorage 4 destroyed
QThreadStorage: Thread 0x7ff62000c190 exited after QThreadStorage 3 destroyed
QThreadStorage: Thread 0x7ff62000c190 exited after QThreadStorage 2 destroyed
QThreadStorage: Thread 0x7ff62000c190 exited after QThreadStorage 1 destroyed
Speicherzugriffsfehler (Speicherabzug geschrieben)
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Re: Problems with Pr2 robot examples

Thomas Baier
ubuntu-mate 14.04
openrave 0.9
python   2.7
sympy   0.7.4.1-1
python-scipy 0.13.3-1buid1
numpy 1:1.8.2

I as well get this error message while executing the following command.
openrave.py --database inversekinematics --robot=n_iiwa.dae --manipname=arm  --freejoint=joint6
I think the problem is connected to the auto generation of Ikfast Model and sympy 0.7.4.1
Is there any know incompatibility? can someone give me a hint to solve this problem?  


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