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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Re: Problems with Pr2 robot examples

Moloy_Das
This post has NOT been accepted by the mailing list yet.
This is quite late but probably will be helpful for newbies stuck at the same problem

Try installing sympy 0.7.1.
I was facing similar issues. I had installed sympy 0.7.6 which was unsupported by openrave.