mpmath not needed

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

mpmath not needed

baxelrod

FYI,

 

ikfast doesn’t work on my robot file unless I install version 0.7.1.  The readme for SymPy indicates that it requires mpmath >= 0.19.  However, when I install this, it also makes ikfast fail my robot file.  So the proper procedure is:

1.    Don’t install mpmath (or uninstall if you already have it)

2.    Install SymPy 0.7.1

3.    Install OpenRave

 

Here is the traceback from the mpmath failure if anyone is interested. 

 

Traceback (most recent call last):

  File "/usr/local/bin/openrave.py", line 126, in <module>

    database.run(args=args)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py", line 1126, in run

    InverseKinematicsModel.RunFromParser(*args,**kwargs)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py", line 1091, in RunFromParser

    model = DatabaseGenerator.RunFromParser(Model=Model,parser=parser,robotatts=robotatts,args=args,**kwargs)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/__init__.py", line 262, in RunFromParser

    model.autogenerate(options=options)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py", line 661, 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_0_9/databases/inversekinematics.py", line 887, in generate

    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2264, in generateIkSolver

    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py", line 754, in solveFullIK_6D

    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2858, in solveFullIK_6D

    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2946, in TestIntersectingAxes

    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 3119, in solve6DIntersectingAxes

    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 6681, in SolveAllEquations

    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 7046, in AddSolution

    nextsolutions[var] = self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 6570, in SolveAllEquations

    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 7342, in AddSolution

    newtree = self.SolveAllEquations(NewEquationsClean,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=newcases, currentcasesubs=newcasesubs, unknownvars=unknownvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 6570, in SolveAllEquations

    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 6769, in AddSolution

    return [solution[0].subs(solsubs)]+self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree, currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 6570, in SolveAllEquations

    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 6902, in AddSolution

    ss += self.solveSingleVariable([checksimplezeroexpr.subs([(sothervar,sin(othervar)),(cothervar,cos(othervar))])],othervar,othersolvedvars)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 8358, in solveSingleVariable

    return [self.solveHighDegreeEquationsHalfAngle(eqns,varsym)]

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 7932, in solveHighDegreeEquationsHalfAngle

    pfinal = self.checkFinalEquation(pfinal,subs)

  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 7989, in checkFinalEquation

    roots = mpmath.polyroots(numpy.array(numpy.array(coeffs),numpy.float64))

  File "/usr/local/lib/python2.7/dist-packages/mpmath/calculus/polynomials.py", line 188, in polyroots

    % maxsteps)

mpmath.libmp.libhyper.NoConvergence: Didn't converge in maxsteps=50 steps.

 

 

Ben Axelrod
Sr. Robotics Software Engineer
Technology Organization


iRobot
8 Crosby Drive 8-1
Bedford, MA 01730
t: 781.430.3315
[hidden email]

 


------------------------------------------------------------------------------
Go from Idea to Many App Stores Faster with Intel(R) XDK
Give your users amazing mobile app experiences with Intel(R) XDK.
Use one codebase in this all-in-one HTML5 development environment.
Design, debug & build mobile apps & 2D/3D high-impact games for multiple OSs.
http://pubads.g.doubleclick.net/gampad/clk?id=254741551&iu=/4140
_______________________________________________
Openrave-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/openrave-users
Loading...