shared_ptr error

[ais]

Hi all,

I implemented the following simple code that repeatedly plans grasping poses.

*********************************

from numpy import *

import sys

import time

import math

from openravepy import *

def input_mug(env):

        body=env.ReadKinBodyXMLFile(filename='data/mug1.kinbody.xml')

        env.AddKinBody(body)

        body.SetTransform(eye(4))

        tran=body.GetTransform()

        xdeg=90

        rot_mat = rotationMatrixFromAxisAngle([1,0,0],float(xdeg)*pi/180.0)

        print 'AxisAngle = ',axisAngleFromRotationMatrix(rot_mat)

        tran[0:3,0:3] = dot(rot_mat, tran[0:3,0:3])

        tran[2,3]=0.001

        body.SetTransform(tran)

        return body

def repeat_plan(env,robot):

    mug=input_mug(env)

    robot.SetActiveManipulator('leftarm_torso')

    #

    ikmodel = databases.inversekinematics.InverseKinematicsModel(robot,iktype=IkParameterization.Type.Transform6D)

    if not ikmodel.load():

        ikmodel.autogenerate()

    #

    gmodel=databases.grasping.GraspingModel(robot=robot,target=mug)

    if not gmodel.load():

        gmodel.autogenerate()

    #

    validgrasps,validindices=gmodel.computeValidGrasps()

    validgrasp=validgrasps[0]

    matrices = [gmodel.getGlobalGraspTransform(validgrasp,collisionfree=True)]

    #

    gmodel.setPreshape(validgrasp)

    for i in range(10000):

        manipprob = interfaces.BaseManipulation(robot)

        print i

        try:

            traj=manipprob.MoveToHandPosition(matrices=matrices,outputtrajobj=True,execute=False)

            robot.WaitForController(0)

        except planning_error,e:

            print "try again: ",e

def run():

    env=Environment()

    env.SetViewer('qtcoin')

    env.Load('data/hironxtable.env.xml')

    robot = env.GetRobots()[0]

    return env,robot

if __name__=="__main__":

    env,robot=run()

**************************************

However, when the number of calculation was greater than 121,

the following error occurred at MoveToHandPosition().

**************************************

/usr/lib/python2.7/dist-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py in MoveToHandPosition(self, matrices, affinedofs, maxiter, maxtries, translation, rotation, seedik, constraintfreedoms, constraintmatrix, constrainterrorthresh, execute, outputtraj, steplength, goalsamples, ikparam, ikparams, jitter, minimumgoalpaths, outputtrajobj, postprocessing, jittergoal, constrainttaskmatrix, constrainttaskpose, goalsampleprob, goalmaxsamples, goalmaxtries)

    186         if goalmaxtries is not None:

    187             cmd += 'goalmaxtries %d '%goalmaxtries

--> 188         res = self.prob.SendCommand(cmd)

    189         if res is None:

    190             raise planning_error('MoveToHandPosition')

openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:418] -> T* boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::RobotBase], expr: px != 0

**************************************

Does anyone know how to avoid the error?

The version of openrave is 0.8.2, linux distribution is ubuntu 12.04 (64bit).

One thing I found was that the amount of memory kept on slightly increasing

while running the above program.

Thanks,

Kimitoshi

[Bahram Maleki-Fard]

Hi,

I'm not sure about the error, but I recommend trying the current version in the "master" branch first, the problem might have already been fixed.
The increased memory for example has already been reported (https://github.com/rdiankov/openrave/issues/322) and fixed (commits 0b0c5dba3126ba9ea635cf87435a6124e94c8d29 and 44df169fe0cc20a6e4710d23847beccfa6d878a1). At least I guess it's related to that issue :)

Cheers,
Bahram

2014/12/18 09:47 , ais [hidden email]:

Hi all,

I implemented the following simple code that repeatedly plans grasping poses.

*********************************

from numpy import *

import sys

import time

import math

from openravepy import *

def input_mug(env):

        body=env.ReadKinBodyXMLFile(filename='data/mug1.kinbody.xml')

        env.AddKinBody(body)

        body.SetTransform(eye(4))

        tran=body.GetTransform()

        xdeg=90

        rot_mat = rotationMatrixFromAxisAngle([1,0,0],float(xdeg)*pi/180.0)

        print 'AxisAngle = ',axisAngleFromRotationMatrix(rot_mat)

        tran[0:3,0:3] = dot(rot_mat, tran[0:3,0:3])

        tran[2,3]=0.001

        body.SetTransform(tran)

        return body

def repeat_plan(env,robot):

    mug=input_mug(env)

    robot.SetActiveManipulator('leftarm_torso')

    #

    ikmodel = databases.inversekinematics.InverseKinematicsModel(robot,iktype=IkParameterization.Type.Transform6D)

    if not ikmodel.load():

        ikmodel.autogenerate()

    #

    gmodel=databases.grasping.GraspingModel(robot=robot,target=mug)

    if not gmodel.load():

        gmodel.autogenerate()

    #

    validgrasps,validindices=gmodel.computeValidGrasps()

    validgrasp=validgrasps[0]

    matrices = [gmodel.getGlobalGraspTransform(validgrasp,collisionfree=True)]

    #

    gmodel.setPreshape(validgrasp)

    for i in range(10000):

        manipprob = interfaces.BaseManipulation(robot)

        print i

        try:

            traj=manipprob.MoveToHandPosition(matrices=matrices,outputtrajobj=True,execute=False)

            robot.WaitForController(0)

        except planning_error,e:

            print "try again: ",e

def run():

    env=Environment()

    env.SetViewer('qtcoin')

    env.Load('data/hironxtable.env.xml')

    robot = env.GetRobots()[0]

    return env,robot

if __name__=="__main__":

    env,robot=run()

**************************************

However, when the number of calculation was greater than 121,

the following error occurred at MoveToHandPosition().

**************************************

/usr/lib/python2.7/dist-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py in MoveToHandPosition(self, matrices, affinedofs, maxiter, maxtries, translation, rotation, seedik, constraintfreedoms, constraintmatrix, constrainterrorthresh, execute, outputtraj, steplength, goalsamples, ikparam, ikparams, jitter, minimumgoalpaths, outputtrajobj, postprocessing, jittergoal, constrainttaskmatrix, constrainttaskpose, goalsampleprob, goalmaxsamples, goalmaxtries)

    186         if goalmaxtries is not None:

    187             cmd += 'goalmaxtries %d '%goalmaxtries

--> 188         res = self.prob.SendCommand(cmd)

    189         if res is None:

    190             raise planning_error('MoveToHandPosition')

openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:418] -> T* boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::RobotBase], expr: px != 0

**************************************

Does anyone know how to avoid the error?

The version of openrave is 0.8.2, linux distribution is ubuntu 12.04 (64bit).

One thing I found was that the amount of memory kept on slightly increasing

while running the above program.

Thanks,

Kimitoshi

---

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[hidden email]
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