The problem about " openrave.py --example simplemanipulation"

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

The problem about " openrave.py --example simplemanipulation"

munu
This post has NOT been accepted by the mailing list yet.
Dear Rosen Diankov,
        I am very interested in OpenRAVE project, I find it is so powerful for motion planning of robots.
        I installed OpenRAVE0.8.2 in ubuntu12 system by executing the commands which are shown below:

       sudo add-apt-repository ppa:openrave/release
       sudo apt-get update
       sudo apt-get install openrave

       After the installation of openrave,I run the examples in the terminal:

       openrave.py --example simplemanipulation

       However,I meet a difficult problem.The PR2 robot can execute the steps:
           
              move robot base to target;
              move the arm to the target;
              close fingers until collision;
             
       but when PR2 robot executes the step of "move the arm with the target back to the initial position",
  an error appears in the terminal, the information are shown below in detail:
  ---------------------------------------------------------------------------------------------------------------------------------------------------------  
             
              use@ubuntu:~$ openrave.py --example simplemanipulation
              [plugindatabase.h:573] Failed to create name base_stereo_camera, interface sensor
              [colladareader.cpp:2584] cannot find instance_sensor for attached sensor pr2:wide_stereo_optical_sensor
              [plugindatabase.h:573] Failed to create name base_stereo_camera, interface sensor
              [colladareader.cpp:2584] cannot find instance_sensor for attached sensor pr2:narrow_stereo_optical_sensor
              [colladareader.cpp:2725] unprocessed tag: sensor/interface_type
              [colladareader.cpp:2725] unprocessed tag: sensor/interface_type
              [colladareader.cpp:2725] unprocessed tag: sensor/angle_range
              [colladareader.cpp:2725] unprocessed tag: sensor/distance_range
              [colladareader.cpp:2725] unprocessed tag: sensor/angle_increment
              [colladareader.cpp:2725] unprocessed tag: sensor/measurement_time
              [colladareader.cpp:2725] unprocessed tag: sensor/interface_type
              [colladareader.cpp:2725] unprocessed tag: sensor/angle_range
              [colladareader.cpp:2725] unprocessed tag: sensor/distance_range
              [colladareader.cpp:2725] unprocessed tag: sensor/angle_increment
              [colladareader.cpp:2725] unprocessed tag: sensor/measurement_time
              [colladareader.cpp:2725] unprocessed tag: sensor/interface_type
              move robot base to target
              [kinbody.cpp:1163] dof 22 value is not in limits 6.000000e-01<5.480002e-01
              move the arm to the target
              close fingers until collision
              move the arm with the target back to the initial position
              [rrt.h:73] no initial configurations
              [basemanipulation.cpp:477] InitPlan failed
              Traceback (most recent call last):
              File "/usr/bin/openrave.py", line 149, in <module>
              example.run(args=args)
              File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/openravepy_ext.py", line 56, in newfn
                     return fn(*args,**kwargs)
               File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/examples/simplemanipulation.py", line 136, in run
                OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
               File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/misc.py", line 237, in parseAndCreateThreadedUser
                SetViewerUserThread(env,viewername,lambda: userfn(env,options))
               File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/misc.py", line 99, in SetViewerUserThread
               userfn()
               File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/misc.py", line 237, in <lambda>
               SetViewerUserThread(env,viewername,lambda: userfn(env,options))
               File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/examples/simplemanipulation.py", line 88, in main
               basemanip.MoveManipulator(goal=[0, 0, 1.29023451, 0, -2.32099996, 0, -0.69800004, 0])
               File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/interfaces/BaseManipulation.py", line 95, in MoveManipulator
                return                   self._MoveJoints('MoveManipulator',goal=goal,steplength=steplength,maxiter=maxiter,maxtries=maxtries,execute=execute,outputtraj=outputtraj,goals=goals,outputtrajobj=outputtrajobj,jitter=jitter,releasegil=releasegil)
               File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/interfaces/BaseManipulation.py", line 129, in _MoveJoints
               raise planning_error('MoveActiveJoints')
               openravepy._openravepy_0_8.openravepy_ext.planning_error: openrave planning_error: 'MoveActiveJoints'
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
               Then the programme was interrupted by the error.
               Could you help me solve the problem?Thans a lot!
               I’m looking forward to your reply.
             
               Sincerely yours,
               Munu

Loading...