Unable to perform inverse kinematics on KUKA youBot

[ratneshmadaan]

I am following this page.

Model of the bot

ratneshmadaan@ratneshmadaan-Inspiron-N5010:~$ echo $OPENRAVE_DATA
~/collada_robots

However I am getting this error ( There's a typo on the above mentioned page (kuka-youbot-hires.zae) However I tried both..:

`ratneshmadaan@ratneshmadaan-Inspiron-N5010:~$ openrave.py --database inversekinematics --robot=kuka-youbot-highres.zae --manipname=arm --iktype=translationdirection5d --iktests=100
[libopenrave.cpp:650] could not find file "kuka-youbot-highres.zae"
[libopenrave.cpp:650] could not find file "kuka-youbot-highres.zae"
[environment-core.h:435] load failed on file kuka-youbot-highres.zae
Traceback (most recent call last):
  File "/usr/bin/openrave.py", line 126, in <module>
    database.run(args=args)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 934, in run
    InverseKinematicsModel.RunFromParser(*args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 906, in RunFromParser
    model = DatabaseGenerator.RunFromParser(Model=Model,parser=parser,robotatts=robotatts,args=args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/__init__.py", line 224, in RunFromParser
    options,model = DatabaseGenerator.InitializeFromParser(Model,parser,orgenv,args,robotatts,defaultviewer,allowkinbody)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/__init__.py", line 196, in InitializeFromParser
    assert(robot is not None)
UnboundLocalError: local variable 'robot' referenced before assignment`


I tried changing the path of the bot, :

`ratneshmadaan@ratneshmadaan-Inspiron-N5010:~$ openrave.py --database inversekinematics --robot=~/collada_robots/kuka-youbot-hires.zae --manipname=arm --iktype=translationdirection5d --iktests=100
[libopenrave.cpp:650] could not find file "~/collada_robots/kuka-youbot-hires.zae"
[libopenrave.cpp:650] could not find file "~/collada_robots/kuka-youbot-hires.zae"
[environment-core.h:435] load failed on file ~/collada_robots/kuka-youbot-hires.zae
Traceback (most recent call last):
  File "/usr/bin/openrave.py", line 126, in <module>
    database.run(args=args)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 934, in run
    InverseKinematicsModel.RunFromParser(*args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py", line 906, in RunFromParser
    model = DatabaseGenerator.RunFromParser(Model=Model,parser=parser,robotatts=robotatts,args=args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/__init__.py", line 224, in RunFromParser
    options,model = DatabaseGenerator.InitializeFromParser(Model,parser,orgenv,args,robotatts,defaultviewer,allowkinbody)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/__init__.py", line 196, in InitializeFromParser
    assert(robot is not None)
UnboundLocalError: local variable 'robot' referenced before assignment`


However the pr2 example
is running fine.

[ratneshmadaan]

Trying from here now:
http://moveit.ros.org/wiki/Kinematics/IKFast


How can I resolve the warnings and erros (Please note the program is still running):

ratneshmadaan@ratneshmadaan-Inspiron-N5010:~/collada_robots$ python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=kuka-youbot-hires.zae --iktype=transform6d --baselink=1 --eelink=7 --savefile=~
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint0.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint0.axis0_value'
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint1.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint1.axis0_value'
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint2.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint2.axis0_value'
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint3.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint3.axis0_value'
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint4.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint4.axis0_value'
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint5.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint5.axis0_value'
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint6.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint6.axis0_value'
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint7.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint7.axis0_value'
[colladareader.cpp:2829] newparam sid=kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint8.axis0_value does not have SIDREF
[colladareader.cpp:2869] failed to get binding 'kscene_kmodel1_inst_body1_kinematics_kmodel1_inst_joint8.axis0_value'
/usr/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py:1122: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
INFO: moved translation [0, 13/200, 0] to right end
INFO: moved translation [0, 0, -1/50] to left end
INFO: moved translation on intersecting axis [0, 0, -11/400] to left
INFO: [[-1, 0, 0, 0],[0, 1, 0, -3/500],[0, 0, -1, 243/1000]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, 1, 0],[1, 0, 0, 1/25],[0, 1, 0, 0]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, -1/250],[0, 1, 0, -317/2000],[0, 0, 1, -33/1000]]
INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 1, 0, -271/2000],[0, 0, 1, 33/1000]]
INFO: [[cos(j5), -sin(j5), 0, 0],[sin(j5), cos(j5), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 0, 1, -3/100],[0, -1, 0, 0]]
INFO: [[cos(j6), -sin(j6), 0, 0],[sin(j6), cos(j6), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, j0]]
INFO: [[1, 0, 0, 0],[0, 1, 0, 13/200],[0, 0, 1, 0]]
INFO: ikfast 6d: [j2, j3, j4, j5, j6, j0]
INFO: found 3 consecutive non-intersecting axes links[0:5], vars=[j2, j3, j4]
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting li/woernle/hiller general ik method
WARNING: 'need exactly 8 equations of one variable'
INFO: attempting kohli/osvatic general ik method
WARNING: 'Kohli/Osvatic method requires 3 unknown variables'
INFO: attempting kohli/osvatic general ik method
WARNING: 'Kohli/Osvatic method requires 3 unknown variables'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj3, sj3, cj4, sj4), number of symbol coeffs are 0
INFO: finished with 12 equations
WARNING: 'number of equations 5 less than 6'
INFO: attempting manocha/canny general ik method
INFO: solving for all pairwise variables in (cj2, sj2, cj3, sj3), number of symbol coeffs are 0
INFO: finished with 12 equations
WARNING: 'number of equations 5 less than 6'
WARNING: '6D general method failed, raghavan roth equations might be too complex'
INFO: found 3 consecutive non-intersecting axes links[2:7], vars=[j3, j4, j5]
INFO: attempting li/woernle/hiller general ik method






EDIT : Been almost half an hour, it is stuck.

[Praveen]

Hi,

which version of OpenRAVE do you use ?
With older IKFAST, few problems were faced.
Rosen suggested once to use the latest IKFAST.
I am using the one from the latest code from the master branch.

I tried again :

openrave.py --database inversekinematics --robot=kuka-youbot-hires.zae --iktype=translationdirection5d --manipname=arm

and the cpp file was generated with successful completion.
openravepy.databases.inversekinematics: generate, successfully generated c++ ik in 182.214297s, file=/home/praman2s/.openrave/kinematics.131b81c1feef2fc4b5f4bfdf822602d4/ikfast71.TranslationDirection5D.2_3_4_5_6.cpp
openravepy.databases.inversekinematics: generate, compiling ik file to /home/praman2s/.openrave/kinematics.131b81c1feef2fc4b5f4bfdf822602d4/ikfast71.TranslationDirection5D.x86_64.2_3_4_5_6.so
openravepy.databases.inversekinematics: save, inversekinematics generation is done, compiled shared object: /home/praman2s/.openrave/kinematics.131b81c1feef2fc4b5f4bfdf822602d4/ikfast71.TranslationDirection5D.x86_64.2_3_4_5_6.so

Could you please check ?
I think it is not a problem.

Best Regards
Praveen

[ratneshmadaan]

Yes, it works. Check the first post , hi vs highres. (damn, again)

However, how can I look at it visually? (like in the pr2 example) --show didn't do anything.

[ratneshmadaan]

It is done now. Thanks.