ikfast for dual arm erroring

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ikfast for dual arm erroring

Eohan
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Re: ikfast for dual arm erroring

Rosen Diankov
Administrator
hi eohan,
your 'rightarm' has only 5 arm joints declared

in order to prevent these types of errors, the new versions of
openrave deprecated the <armjoints> tag since it is possible to
compute this information from just the base and effector

rosen,

2010/4/20 Eohan <[hidden email]>:

>
> Hi,
> I tried to generate ik for a dual arm. It gives me the following error. Its
> 2 kuka kr5 arm. The snippet of the  dual.robot.xml file is given below.
>
>  <Manipulator name="leftarm">
>    <base>l_base</base>
>    <effector>l_link5</effector>
>    <armjoints>l_j0 l_j1 l_j2 l_j3 l_j4 l_j5</armjoints>
>  </Manipulator>
>  <Manipulator name="rightarm">
>    <base>r_base</base>
>    <effector>r_link5</effector>
>    <armjoints>r_j1 r_j2 r_j3 r_j4 r_j5</armjoints>
>  </Manipulator>
> </Robot>
>
> The error is
> =======
> /usr/local/share/openrave/openravepy/metaclass.py:22: DeprecationWarning:
> object.__new__() takes no parameters
>  self = super(InstanceTracker, cls).__new__(*args, **kwargs)
> Generating inverse kinematics for manip leftarm : Transform6D [0, 1, 2, 3,
> 4, 5] (this might take ~10 min)
> generating inverse kinematics file
> /home/eohan/.openrave/robot.4a01c60823a77977bdf0a788b9fe0a51/ikfast.leftarm.Transform6D_0_1_2_3_4_5.cpp
> rotvars:  [j2, j3, j4]  transvars:  [j0, j1]  not 3 dims
> failed to genreate ik solution
> destroying environment
> Traceback (most recent call last):
>  File "inversekinematics.py", line 409, in <module>
>    InverseKinematicsModel.RunFromParser()
>  File "inversekinematics.py", line 381, in RunFromParser
>    OpenRAVEModel.RunFromParser(Model=Model,parser=parser)
>  File "/usr/local/share/openrave/openravepy/openravepy_ext.py", line 469,
> in RunFromParser
>    model.autogenerate(options=options)
>  File "inversekinematics.py", line 106, in autogenerate
>
> self.generate(iktype=iktype,freejoints=freejoints,usedummyjoints=usedummyjoints,accuracy=accuracy,precision=precision,forceikbuild=forceikbuild)
>  File "inversekinematics.py", line 181, in generate
>    raise ValueError('failed to generate ik solver for robot
> %s:%s'%(self.robot.GetName(),self.manip.GetName()))
> ValueError: failed to generate ik solver for robot
> kuka-kr5-r850-dual:leftarm
> =======
>
> Any pointers ?
>
> Eohan
> --
> View this message in context: http://n3.nabble.com/ikfast-for-dual-arm-erroring-tp730209p730209.html
> 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.
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> _______________________________________________
> Openrave-users mailing list
> [hidden email]
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>

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Re: ikfast for dual arm erroring

Eohan
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Re: ikfast for dual arm erroring

Rosen Diankov
Administrator
please check the last 4 joints of your robot file, i'm pretty sure you
missed something. if you cannot figure it out, it would be great if
you can send your robot..
rosen,

2010/4/20 Eohan <[hidden email]>:

>
> ohh ! . that was careless ..
> But I still get the error inspite of having
>
>  <Manipulator name="leftarm">
>    <base>l_base</base>
>    <effector>l_link5</effector>
>    <armjoints>l_j0 l_j1 l_j2 l_j3 l_j4 l_j5</armjoints>
>  </Manipulator>
>  <Manipulator name="rightarm">
>    <base>r_base</base>
>    <effector>r_link5</effector>
>    <armjoints>r_j0 r_j1 r_j2 r_j3 r_j4 r_j5</armjoints>
>  </Manipulator>
>
> ==========
> $$:> python inversekinematics.py --robot=robots/kuka-kr5-r850-dual.robot.xml
> --manipname=leftarm
>
> /usr/local/share/openrave/openravepy/metaclass.py:22: DeprecationWarning:
> object.__new__() takes no parameters
>  self = super(InstanceTracker, cls).__new__(*args, **kwargs)
> Generating inverse kinematics for manip leftarm : Transform6D [0, 1, 2, 3,
> 4, 5] (this might take ~10 min)
> generating inverse kinematics file
> /home/eohan/.openrave/robot.13be83292b18de67396418cf1909ff12/ikfast.leftarm.Transform6D_0_1_2_3_4_5.cpp
> rotvars:  [j2, j3, j4]  transvars:  [j0, j1]  not 3 dims
> failed to genreate ik solution
> destroying environment
> Traceback (most recent call last):
>  File "inversekinematics.py", line 409, in <module>
>    InverseKinematicsModel.RunFromParser()
>  File "inversekinematics.py", line 381, in RunFromParser
>    OpenRAVEModel.RunFromParser(Model=Model,parser=parser)
>  File "/usr/local/share/openrave/openravepy/openravepy_ext.py", line 469,
> in RunFromParser
>    model.autogenerate(options=options)
>  File "inversekinematics.py", line 106, in autogenerate
>
> self.generate(iktype=iktype,freejoints=freejoints,usedummyjoints=usedummyjoints,accuracy=accuracy,precision=precision,forceikbuild=forceikbuild)
>  File "inversekinematics.py", line 181, in generate
>    raise ValueError('failed to generate ik solver for robot
> %s:%s'%(self.robot.GetName(),self.manip.GetName()))
> ValueError: failed to generate ik solver for robot
> kuka-kr5-r850-dual:leftarm
> =========
>
> Eohan
> --
> View this message in context: http://n3.nabble.com/ikfast-for-dual-arm-erroring-tp730209p730306.html
> 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
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