Quantcast

ikfast issues in c++

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

ikfast issues in c++

ashwinmudigonda
Hey Rosen,

I am having issues with ikfast. I have an HP20D robot, both, xml and zae files. I am on ver 0.9 on Windows 8 64 bit. When I run it in python, everything works, and the filename for the ik solver of xml and the zae file is:

'C:\\Users\\Ashwin\\.openrave\\kinematics.5aa5a0f0009f08095ef42dea83693ccc\\ikfast70.Transform6D.AMD64.0_1_2_3_4_5.dll'

When I run ikfastloader.exe (included in the examples), for the xml file (with the iksolver pointing to the above file name), I see the following output:

C:\Program Files (x86)\OpenRAVE\share\openrave-0.9\cppexamples\build\Release>ikfastloader.exe c:\Ashwin\urpy\robots\HP20D.robot.xml 1728053249
[plugindatabase.h:577 OpenRAVE::RaveDatabase::Create] Failed to create name ikfast ikfast.9d819268beb7ac46feeebbfbd8ec52af.HP20Darm, interface iksolver
[ikfastmodule.cpp:550 IkFastModule::LoadIKFastSolver] failed to create ik solver ikfast.9d819268beb7ac46feeebbfbd8ec52af.HP20Darm!
[ikfastloader.cpp:69 main] testing random ik

And then it goes into the infinite loop of testing random poses.

However, when I run the same exe with the zae file, I see:

C:\Program Files (x86)\OpenRAVE\share\openrave-0.9\cppexamples\build\Release>ikfastloader.exe c:\Ashwin\urpy\robots\HP20D.zae 1728053249
[colladareader.cpp:251 OpenRAVE::ColladaReader::ColladaReader] collada-dom compiled with 32-bit floating-point, so there might be precision errors
[plugindatabase.h:577 OpenRAVE::RaveDatabase::Create] Failed to create name ikfast ikfast.76e904804714e147fc7607f435dc4d56.HP20Darm, interface iksolver
[ikfastmodule.cpp:550 IkFastModule::LoadIKFastSolver] failed to create ik solver ikfast.76e904804714e147fc7607f435dc4d56.HP20Darm!
[ikfastloader.cpp:64 main] failed to load iksolver

And the application exits. If I don't give an iksolver tag in the XML file, I get:

C:\Program Files (x86)\OpenRAVE\share\openrave-0.9\cppexamples\build\Release>ikfastloader.exe c:\Ashwin\urpy\robots\HP20D.robot.xml 1728053249
[plugindatabase.h:577 OpenRAVE::RaveDatabase::Create] Failed to create name ikfast ikfast.9d819268beb7ac46feeebbfbd8ec52af.HP20Darm, interface iksolver
[ikfastmodule.cpp:550 IkFastModule::LoadIKFastSolver] failed to create ik solver ikfast.9d819268beb7ac46feeebbfbd8ec52af.HP20Darm!
[ikfastloader.cpp:64 main] failed to load iksolver

So what's going on? How do I fix this and get the zae to work?


------------------------------------------------------------------------------
Time is money. Stop wasting it! Get your web API in 5 minutes.
www.restlet.com/download
http://p.sf.net/sfu/restlet
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Re: ikfast issues in c++

ashwinmudigonda
Forgot to attach the robot files if you needed them:

https://dl.dropboxusercontent.com/u/12487904/HP20D.7z
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Re: ikfast issues in c++

Rosen Diankov
Administrator
In reply to this post by ashwinmudigonda
dear ashwin,

i remember solving a similar issue a couple of weeks ago. can you try the "production" branch of openrave and see if it is fixed?

thanks,
rosen,



2014-05-30 6:22 GMT+09:00 Ashwin Mudigonda <[hidden email]>:
Hey Rosen,

I am having issues with ikfast. I have an HP20D robot, both, xml and zae files. I am on ver 0.9 on Windows 8 64 bit. When I run it in python, everything works, and the filename for the ik solver of xml and the zae file is:

'C:\\Users\\Ashwin\\.openrave\\kinematics.5aa5a0f0009f08095ef42dea83693ccc\\ikfast70.Transform6D.AMD64.0_1_2_3_4_5.dll'

When I run ikfastloader.exe (included in the examples), for the xml file (with the iksolver pointing to the above file name), I see the following output:

C:\Program Files (x86)\OpenRAVE\share\openrave-0.9\cppexamples\build\Release>ikfastloader.exe c:\Ashwin\urpy\robots\HP20D.robot.xml 1728053249
[plugindatabase.h:577 OpenRAVE::RaveDatabase::Create] Failed to create name ikfast ikfast.9d819268beb7ac46feeebbfbd8ec52af.HP20Darm, interface iksolver
[ikfastmodule.cpp:550 IkFastModule::LoadIKFastSolver] failed to create ik solver ikfast.9d819268beb7ac46feeebbfbd8ec52af.HP20Darm!
[ikfastloader.cpp:69 main] testing random ik

And then it goes into the infinite loop of testing random poses.

However, when I run the same exe with the zae file, I see:

C:\Program Files (x86)\OpenRAVE\share\openrave-0.9\cppexamples\build\Release>ikfastloader.exe c:\Ashwin\urpy\robots\HP20D.zae 1728053249
[colladareader.cpp:251 OpenRAVE::ColladaReader::ColladaReader] collada-dom compiled with 32-bit floating-point, so there might be precision errors
[plugindatabase.h:577 OpenRAVE::RaveDatabase::Create] Failed to create name ikfast ikfast.76e904804714e147fc7607f435dc4d56.HP20Darm, interface iksolver
[ikfastmodule.cpp:550 IkFastModule::LoadIKFastSolver] failed to create ik solver ikfast.76e904804714e147fc7607f435dc4d56.HP20Darm!
[ikfastloader.cpp:64 main] failed to load iksolver

And the application exits. If I don't give an iksolver tag in the XML file, I get:

C:\Program Files (x86)\OpenRAVE\share\openrave-0.9\cppexamples\build\Release>ikfastloader.exe c:\Ashwin\urpy\robots\HP20D.robot.xml 1728053249
[plugindatabase.h:577 OpenRAVE::RaveDatabase::Create] Failed to create name ikfast ikfast.9d819268beb7ac46feeebbfbd8ec52af.HP20Darm, interface iksolver
[ikfastmodule.cpp:550 IkFastModule::LoadIKFastSolver] failed to create ik solver ikfast.9d819268beb7ac46feeebbfbd8ec52af.HP20Darm!
[ikfastloader.cpp:64 main] failed to load iksolver

So what's going on? How do I fix this and get the zae to work?



------------------------------------------------------------------------------
Time is money. Stop wasting it! Get your web API in 5 minutes.
www.restlet.com/download
http://p.sf.net/sfu/restlet
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
Loading...