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From: Logan Z. <zhi...@gm...> - 2021-06-10 04:10:45
|
Hi, I am currently working on a research project with KUKA iiwa14 robot with ROS kinetic on ubuntu 16.04 and am trying to use IKfast for better performence for path planning. However, ros gives me this error everytime I try to use IKFast I am not sure what could be causing this: I saw on the moveit page that there is a known issue, here is the link info I am not sure if it is related[image: image.png] Any help will be appreciated, Thanks! |
|
From: Lars M. <mat...@ar...> - 2020-11-05 14:36:41
|
Dear Boris, In my case, I'm interested in getting all solutions to the IK problem, not just the nearest one to the current state. Unless I'm wrong, using the Jacobean will only bring me to one IK solution via an iterative scheme. If I'm interested in different ones, I can of course try with different start values, but that takes some time and I won't have the guarantee that I find all solutions. Or am I overlooking something? Thanks for your help! Lars On Thu, 5 Nov 2020 at 15:08, Boris Skegin <bor...@go...> wrote: > Dear Lars, > > I do understand that you use "the algebraic code generated for the IK > Fast plugin" . > > Well, then let me give you some very general advice. > IK Fast plugin does surprise often with such artefacts. > > Fortunately, OpenRAVE offers direct calculation of (rotational) > Jacobeans which is all you need > for inverse kinematics in your case. > See, for instance, https://robotics.stackexchange.com/a/12152/15695 . > > Last time I had to invert a 3x4 Jacobean, it took always less than 100 > microseconds on Intel Celeron. > So, there is some hope that you could invert your 6x4 Jacobean well under > 1 ms. > > Best, > boris > > Am Do., 5. Nov. 2020 um 14:28 Uhr schrieb Lars Matthäus < > mat...@ar...>: > > > > Dear Boris, > > > > No, I use the algebraic code generated for the IK Fast plugin directly. > I generated the code following the descriptions in > http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html > , in particular I used the command > > python `openrave-config > --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae > --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" > --savefile="$IKFAST_OUTPUT_PATH" > > > > As far as I'm aware, there is no Jacobean used here. > > > > Regarding your questions about singularities: No, these values were not > at singular positions. > > > > Best, > > Lars > > > > On Thu, 5 Nov 2020 at 13:49, Boris Skegin < > bor...@go...> wrote: > >> > >> Hi, > >> > >> suppose, you set up and use a Jacobian for your calculations. > >> Will you find then singularities at those joint values? > >> > >> Best, > >> boris > >> > >> Am Do., 5. Nov. 2020 um 13:08 Uhr schrieb Lars Matthäus via > >> Openrave-users <ope...@li...>: > >> > > >> > Hi, > >> > > >> > I'm currently trying IK Fast for the closed form inverse kinematics > of the Comau NJ4-220-2.7 robot, which is a 6 DoF 6R robot with a > non-spherical wrist. In general, it works well, but for some joint values > the round trip joints --FK--> Pose --IK--> joints does not yield the input > joint values among the list of IK solutions. > >> > > >> > I know that for non-spherical wrists, the IK can be quite > complicated, but I thought that if creating an IK Fast plugin succeeds for > a specific robot geometry, it will always output all possible IK solutions. > Or am I wrong here? What else could be the reason that it doesn't find the > original input after successive forward and inverse kinematics? > >> > > >> > Best, > >> > Lars > >> > > >> > ps: If needed, I can supply more material to reproduce the issue, but > I'm not sure that this project is still under active development, so I'll > wait for a response first. > >> > _______________________________________________ > >> > Openrave-users mailing list > >> > Ope...@li... > >> > https://lists.sourceforge.net/lists/listinfo/openrave-users > > > > > > > > -- > > Dr. Lars Matthäus > > Senior Research Specialist > > ARRIVAL Germany GmbH > -- Dr. Lars Matthäus Senior Research Specialist ARRIVAL Germany GmbH |
|
From: Lars M. <mat...@ar...> - 2020-11-05 13:54:11
|
Dear Boris, No, I use the algebraic code generated for the IK Fast plugin directly. I generated the code following the descriptions in http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html , in particular I used the command python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --savefile="$IKFAST_OUTPUT_PATH" As far as I'm aware, there is no Jacobean used here. Regarding your questions about singularities: No, these values were not at singular positions. Best, Lars On Thu, 5 Nov 2020 at 13:49, Boris Skegin <bor...@go...> wrote: > Hi, > > suppose, you set up and use a Jacobian for your calculations. > Will you find then singularities at those joint values? > > Best, > boris > > Am Do., 5. Nov. 2020 um 13:08 Uhr schrieb Lars Matthäus via > Openrave-users <ope...@li...>: > > > > Hi, > > > > I'm currently trying IK Fast for the closed form inverse kinematics of > the Comau NJ4-220-2.7 robot, which is a 6 DoF 6R robot with a non-spherical > wrist. In general, it works well, but for some joint values the round trip > joints --FK--> Pose --IK--> joints does not yield the input joint values > among the list of IK solutions. > > > > I know that for non-spherical wrists, the IK can be quite complicated, > but I thought that if creating an IK Fast plugin succeeds for a specific > robot geometry, it will always output all possible IK solutions. Or am I > wrong here? What else could be the reason that it doesn't find the original > input after successive forward and inverse kinematics? > > > > Best, > > Lars > > > > ps: If needed, I can supply more material to reproduce the issue, but > I'm not sure that this project is still under active development, so I'll > wait for a response first. > > _______________________________________________ > > Openrave-users mailing list > > Ope...@li... > > https://lists.sourceforge.net/lists/listinfo/openrave-users > -- Dr. Lars Matthäus Senior Research Specialist ARRIVAL Germany GmbH |
|
From: Lars M. <mat...@ar...> - 2020-11-05 12:08:16
|
Hi, I'm currently trying IK Fast for the closed form inverse kinematics of the Comau NJ4-220-2.7 robot, which is a 6 DoF 6R robot with a non-spherical wrist. In general, it works well, but for some joint values the round trip joints --FK--> Pose --IK--> joints does not yield the input joint values among the list of IK solutions. I know that for non-spherical wrists, the IK can be quite complicated, but I thought that if creating an IK Fast plugin succeeds for a specific robot geometry, it will always output all possible IK solutions. Or am I wrong here? What else could be the reason that it doesn't find the original input after successive forward and inverse kinematics? Best, Lars ps: If needed, I can supply more material to reproduce the issue, but I'm not sure that this project is still under active development, so I'll wait for a response first. |
|
From: onlooker <hub...@by...> - 2020-07-08 11:15:14
|
Meet a solve issue when generating IK solver with the manuel http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html. Hardware: 5-dof innfos which was 6-dof but the wrist3 joint is broken, so I move the wrist3 joint and change the urdf to 5-dof robot... Reference information: export MYROBOT_NAME="innfox" export PLANNING_GROUP="bytedance_arm" export BASE_LINK="0" export EEF_LINK="5" export IKFAST_OUTPUT_PATH=`pwd`/ikfast61_"$PLANNING_GROUP".cpp export IKFAST_PRECISION="5" $openrave-robot.py "$MYROBOT_NAME".dae --info links name index parents --------------------------------- base_link 0 shoulder_link 1 base_link elbow_link 2 shoulder_link elbow2_link 3 elbow_link wrist_link 4 elbow2_link wrist2_link 5 wrist_link --------------------------------- name index parents Generate command: $python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=translationdirection5d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --savefile="$IKFAST_OUTPUT_PATH" ======================generate log ============================================ INFO: moved translation [0, 0, -2319/50000] to right end INFO: moved translation [0, 0, -2951/50000] to left end INFO: moved translation on intersecting axis [0, 0, 63/12500] to left INFO: [[1, 0, 0, 0],[0, -1, 0, 0],[0, 0, -1, 2691/25000]] INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]] INFO: [[0, 0, -1, 381/10000],[1, 0, 0, 0],[0, -1, 0, 0]] INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]] INFO: [[-1, 0, 0, 0],[0, 1, 0, 3511/20000],[0, 0, -1, -63/12500]] INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]] INFO: [[-1, 0, 0, 0],[0, 1, 0, 3511/20000],[0, 0, -1, 0]] INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]] INFO: [[0, 1, 0, 0],[0, 0, -1, 0],[-1, 0, 0, -381/10000]] INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]] INFO: [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, -2319/50000]] INFO: ikfast translation direction 5d: [j0, j1, j2, j3, j4], direction=[0] [0] [1] INFO: computed in 0.467370s INFO: attempting li/woernle/hiller general ik method INFO: allowed indices: [0] INFO: assuming equation htj2 is non-zero, dividing by Poly(-px*cj0*htj2 - py*sj0*htj2 + 2031/25000*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py]') INFO: factors 1 reduced not unique: -cj0*px - py*sj0 + 2031/25000 INFO: assuming equation htj2 is non-zero, dividing by Poly(-sj4*htj2 - r00*cj0*htj2 - r01*sj0*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='ZZ[r00,r01]') INFO: not unique: (Poly(sj4, cj3, sj3, cj4, sj4, htj2, domain='ZZ'), Poly(-r00*cj0 - r01*sj0, cj0, sj0, cj1, sj1, htj2, domain='ZZ[r00,r01]')) INFO: assuming equation htj2 is non-zero, dividing by Poly(3511/20000*cj3*cj4*htj2**2 + 3511*r01/20000*cj0*cj1*htj2**2 - 3511*r01/10000*cj0*sj1*htj2 + 2031*r00/25000*cj0*htj2 - 3511*r00/20000*sj0*cj1*htj2**2 + 3511*r00/10000*sj0*sj1*htj2 + 2031*r01/25000*sj0*htj2 - 3511*r02/10000*cj1*htj2 - 3511*r02/20000*sj1*htj2**2 + (-px*r00 - py*r01 - pz*r02)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]') INFO: not unique: (Poly(-3511/20000*cj3*cj4*htj2, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(3511*r01/20000*cj0*cj1*htj2 - 3511*r01/10000*cj0*sj1 + 2031*r00/25000*cj0 - 3511*r00/20000*sj0*cj1*htj2 + 3511*r00/10000*sj0*sj1 + 2031*r01/25000*sj0 - 3511*r02/10000*cj1 - 3511*r02/20000*sj1*htj2 - px*r00 - py*r01 - pz*r02, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]')) INFO: assuming equation htj2 is non-zero, dividing by Poly(-18881318871/25000000000000*sj3*htj2**2 + 8142009*py/500000000*cj0*cj1*htj2**2 - 8142009*py/250000000*cj0*sj1*htj2 + 5002083*px/1250000000*cj0*htj2 - 8142009*px/500000000*sj0*cj1*htj2**2 + 8142009*px/250000000*sj0*sj1*htj2 + 5002083*py/1250000000*sj0*htj2 - 8142009*pz/250000000*cj1*htj2 - 8142009*pz/500000000*sj1*htj2**2 + (-2319*px**2/50000 - 2319*py**2/50000 - 2319*pz**2/50000 - 44035474767/7812500000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]') INFO: not unique: (Poly(18881318871/25000000000000*sj3*htj2, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(8142009*py/500000000*cj0*cj1*htj2 - 8142009*py/250000000*cj0*sj1 + 5002083*px/1250000000*cj0 - 8142009*px/500000000*sj0*cj1*htj2 + 8142009*px/250000000*sj0*sj1 + 5002083*py/1250000000*sj0 - 8142009*pz/250000000*cj1 - 8142009*pz/500000000*sj1*htj2 - 2319*px**2/50000 - 2319*py**2/50000 - 2319*pz**2/50000 - 44035474767/7812500000000, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]')) INFO: assuming equation htj2 is non-zero, dividing by Poly(-3511/20000*sj3*cj4*htj2**3 + 3511*r01/10000*cj0*cj1*htj2**2 + 3511*r01/20000*cj0*sj1*htj2**3 - 3511*r01/10000*cj0*sj1*htj2 + 2031*r00/25000*cj0*htj2 - 3511*r00/10000*sj0*cj1*htj2**2 - 3511*r00/20000*sj0*sj1*htj2**3 + 3511*r00/10000*sj0*sj1*htj2 + 2031*r01/25000*sj0*htj2 + 3511*r02/20000*cj1*htj2**3 - 3511*r02/10000*cj1*htj2 - 3511*r02/10000*sj1*htj2**2 + (-px*r00 - py*r01 - pz*r02)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]') INFO: not unique: (Poly(3511/20000*sj3*cj4*htj2**2, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(3511*r01/10000*cj0*cj1*htj2 + 3511*r01/20000*cj0*sj1*htj2**2 - 3511*r01/10000*cj0*sj1 + 2031*r00/25000*cj0 - 3511*r00/10000*sj0*cj1*htj2 - 3511*r00/20000*sj0*sj1*htj2**2 + 3511*r00/10000*sj0*sj1 + 2031*r01/25000*sj0 + 3511*r02/20000*cj1*htj2**2 - 3511*r02/10000*cj1 - 3511*r02/10000*sj1*htj2 - px*r00 - py*r01 - pz*r02, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]')) INFO: assuming equation htj2 is non-zero, dividing by Poly(-18881318871/25000000000000*cj3*htj2**3 + 8142009*py/250000000*cj0*cj1*htj2**2 + 8142009*py/500000000*cj0*sj1*htj2**3 - 8142009*py/250000000*cj0*sj1*htj2 + 5002083*px/1250000000*cj0*htj2 - 8142009*px/250000000*sj0*cj1*htj2**2 - 8142009*px/500000000*sj0*sj1*htj2**3 + 8142009*px/250000000*sj0*sj1*htj2 + 5002083*py/1250000000*sj0*htj2 + 8142009*pz/500000000*cj1*htj2**3 - 8142009*pz/250000000*cj1*htj2 - 8142009*pz/250000000*sj1*htj2**2 + (-2319*px**2/50000 - 2319*py**2/50000 - 2319*pz**2/50000 - 44035474767/7812500000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]') INFO: not unique: (Poly(18881318871/25000000000000*cj3*htj2**2 + 28586593599/10000000000000*htj2**2, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(8142009*py/250000000*cj0*cj1*htj2 + 8142009*py/500000000*cj0*sj1*htj2**2 - 8142009*py/250000000*cj0*sj1 + 5002083*px/1250000000*cj0 - 8142009*px/250000000*sj0*cj1*htj2 - 8142009*px/500000000*sj0*sj1*htj2**2 + 8142009*px/250000000*sj0*sj1 + 5002083*py/1250000000*sj0 + 8142009*pz/500000000*cj1*htj2**2 - 8142009*pz/250000000*cj1 - 8142009*pz/250000000*sj1*htj2 + 28586593599/10000000000000*htj2**2 - 2319*px**2/50000 - 2319*py**2/50000 - 2319*pz**2/50000 - 44035474767/7812500000000, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]')) INFO: factors 0 reduced not unique: 0 INFO: factors 1 reduced not unique: cj0*px + py*sj0 - 2031/25000 INFO: assuming equation htj2 is non-zero, dividing by Poly(px*cj0*htj2 + py*sj0*htj2 - 2031/25000*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py]') INFO: factors 1 reduced not unique: cj0*px + py*sj0 - 2031/25000 INFO: assuming equation htj2 is non-zero, dividing by Poly(-8142009/500000000*cj3*htj2 + 3511*py/10000*cj0*sj1*htj2 - 2157*px/25000*cj0*htj2 - 3511*px/10000*sj0*sj1*htj2 - 2157*py/25000*sj0*htj2 + 3511*pz/10000*cj1*htj2 + (px**2 + py**2 + pz**2 - 4354137/2500000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]') INFO: not unique: (Poly(8142009/500000000*cj3, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(3511*py/10000*cj0*sj1 - 2157*px/25000*cj0 - 3511*px/10000*sj0*sj1 - 2157*py/25000*sj0 + 3511*pz/10000*cj1 + px**2 + py**2 + pz**2 - 4354137/2500000000, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]')) INFO: assuming equation htj2 is non-zero, dividing by Poly(-3511/20000*sj3*cj4*htj2 + 3511*r01/20000*cj0*sj1*htj2 - 2031*r00/25000*cj0*htj2 - 3511*r00/20000*sj0*sj1*htj2 - 2031*r01/25000*sj0*htj2 + 3511*r02/20000*cj1*htj2 + (px*r00 + py*r01 + pz*r02)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]') INFO: not unique: (Poly(3511/20000*sj3*cj4, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(3511*r01/20000*cj0*sj1 - 2031*r00/25000*cj0 - 3511*r00/20000*sj0*sj1 - 2031*r01/25000*sj0 + 3511*r02/20000*cj1 + px*r00 + py*r01 + pz*r02, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]')) INFO: assuming equation htj2 is non-zero, dividing by Poly(28586593599/10000000000000*cj3*sj4*htj2 + (-12327121*px*r02/200000000 + 12327121*pz*r00/200000000)*cj0*cj1*htj2 + 25036382751*r01/5000000000000*cj0*sj1*htj2 + (-3511*px**2*r00/20000 - 3511*px*py*r01/10000 - 3511*px*pz*r02/10000 + 3511*py**2*r00/20000 + 3511*pz**2*r00/20000 - 15362454231*r00/10000000000000)*cj0*htj2 + (-12327121*py*r02/200000000 + 12327121*pz*r01/200000000)*sj0*cj1*htj2 - 25036382751*r00/5000000000000*sj0*sj1*htj2 + (3511*px**2*r01/20000 - 3511*px*py*r00/10000 - 3511*py**2*r01/20000 - 3511*py*pz*r02/10000 + 3511*pz**2*r01/20000 - 15362454231*r01/10000000000000)*sj0*htj2 + 25036382751*r02/5000000000000*cj1*htj2 + (-12327121*px*r01/200000000 + 12327121*py*r00/200000000)*sj1*htj2 + (7130841*px*r00/250000000 + 7130841*py*r01/250000000 + 7130841*pz*r02/250000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]') INFO: not unique: (Poly(-28586593599/10000000000000*cj3*sj4, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly((-12327121*px*r02/200000000 + 12327121*pz*r00/200000000)*cj0*cj1 + 25036382751*r01/5000000000000*cj0*sj1 + (-3511*px**2*r00/20000 - 3511*px*py*r01/10000 - 3511*px*pz*r02/10000 + 3511*py**2*r00/20000 + 3511*pz**2*r00/20000 - 15362454231*r00/10000000000000)*cj0 + (-12327121*py*r02/200000000 + 12327121*pz*r01/200000000)*sj0*cj1 - 25036382751*r00/5000000000000*sj0*sj1 + (3511*px**2*r01/20000 - 3511*px*py*r00/10000 - 3511*py**2*r01/20000 - 3511*py*pz*r02/10000 + 3511*pz**2*r01/20000 - 15362454231*r01/10000000000000)*sj0 + 25036382751*r02/5000000000000*cj1 + (-12327121*px*r01/200000000 + 12327121*py*r00/200000000)*sj1 + 7130841*px*r00/250000000 + 7130841*py*r01/250000000 + 7130841*pz*r02/250000000, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]')) INFO: matrix has 0 symbols WARNING: CannotSolveError: coefficient matrix is singular INFO: computed in 0.837436s INFO: attempting li/woernle/hiller general ik method WARNING: could not find any variable where number of equations is exacty 8, trying all possibilities INFO: allowed indices: [0, 2, 4] WARNING: allowedindex 0 found 0 equations where coefficients of equations match INFO: assuming equation htj1 is non-zero, dividing by Poly(-3511*py/5000*cj0*cj2*htj1**2 - 3511*py/10000*cj0*sj2*htj1**3 + 3511*py/10000*cj0*sj2*htj1 + 2157*px/25000*cj0*htj1**3 - 3511*py/5000*cj0*htj1**2 + 2157*px/25000*cj0*htj1 + 3511*px/5000*sj0*cj2*htj1**2 + 3511*px/10000*sj0*sj2*htj1**3 - 3511*px/10000*sj0*sj2*htj1 + 2157*py/25000*sj0*htj1**3 + 3511*px/5000*sj0*htj1**2 + 2157*py/25000*sj0*htj1 + (3511*pz/10000 - 12327121/200000000)*cj2*htj1**3 + (-3511*pz/10000 - 12327121/200000000)*cj2*htj1 - 3511*pz/5000*sj2*htj1**2 + (-px**2 - py**2 - pz**2 + 3511*pz/10000 - 299469751/5000000000)*htj1**3 + (-px**2 - py**2 - pz**2 - 3511*pz/10000 - 299469751/5000000000)*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py,pz]') INFO: not unique: (Poly(3511*py/5000*cj0*cj2*htj1 + 3511*py/10000*cj0*sj2*htj1**2 - 3511*py/10000*cj0*sj2 - 2157*px/25000*cj0*htj1**2 + 3511*py/5000*cj0*htj1 - 2157*px/25000*cj0 - 3511*px/5000*sj0*cj2*htj1 - 3511*px/10000*sj0*sj2*htj1**2 + 3511*px/10000*sj0*sj2 - 2157*py/25000*sj0*htj1**2 - 3511*px/5000*sj0*htj1 - 2157*py/25000*sj0 + (-3511*pz/10000 + 12327121/200000000)*cj2*htj1**2 + (3511*pz/10000 + 12327121/200000000)*cj2 + 3511*pz/5000*sj2*htj1 + (px**2 + py**2 + pz**2 - 3511*pz/10000 + 317483323/5000000000)*htj1**2, cj0, sj0, cj2, sj2, htj1, domain='QQ[px,py,pz]'), Poly(4503393/1250000000*htj1**2 - px**2 - py**2 - pz**2 - 3511*pz/10000 - 299469751/5000000000, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py,pz]')) INFO: assuming equation htj1 is non-zero, dividing by Poly((px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 + 3511*py*r02/10000 + pz**2*r01 - 3511*pz*r01/10000 + 317483323*r01/5000000000)*cj0*cj2*htj1**3 + (-2157*px*r02/12500 + 2157*pz*r00/12500)*cj0*cj2*htj1**2 + (-px**2*r01 + 2*px*py*r00 + py**2*r01 + 2*py*pz*r02 + 3511*py*r02/10000 - pz**2*r01 - 3511*pz*r01/10000 - 317483323*r01/5000000000)*cj0*cj2*htj1 + (-2157*px*r02/25000 + 2157*pz*r00/25000 - 7573227*r00/500000000)*cj0*sj2*htj1**3 + (-2*px**2*r01 + 4*px*py*r00 + 2*py**2*r01 + 4*py*pz*r02 - 2*pz**2*r01 - 4652649*r01/1250000000)*cj0*sj2*htj1**2 + (2157*px*r02/25000 - 2157*pz*r00/25000 - 7573227*r00/500000000)*cj0*sj2*htj1 + (3511*py*r02/10000 - 3511*pz*r01/10000 + 12327121*r01/200000000)*cj0*htj1**3 + (3511*py*r02/10000 - 3511*pz*r01/10000 - 12327121*r01/200000000)*cj0*htj1 + (px**2*r00 + 2*px*py*r01 + 2*px*pz*r02 - 3511*px*r02/10000 - py**2*r00 - pz**2*r00 + 3511*pz*r00/10000 - 317483323*r00/5000000000)*sj0*cj2*htj1**3 + (-2157*py*r02/12500 + 2157*pz*r01/12500)*sj0*cj2*htj1**2 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 - 3511*px*r02/10000 + py**2*r00 + pz**2*r00 + 3511*pz*r00/10000 + 317483323*r00/5000000000)*sj0*cj2*htj1 + (-2157*py*r02/25000 + 2157*pz*r01/25000 - 7573227*r01/500000000)*sj0*sj2*htj1**3 + (-2*px**2*r00 - 4*px*py*r01 - 4*px*pz*r02 + 2*py**2*r00 + 2*pz**2*r00 + 4652649*r00/1250000000)*sj0*sj2*htj1**2 + (2157*py*r02/25000 - 2157*pz*r01/25000 - 7573227*r01/500000000)*sj0*sj2*htj1 + (-3511*px*r02/10000 + 3511*pz*r00/10000 - 12327121*r00/200000000)*sj0*htj1**3 + (-3511*px*r02/10000 + 3511*pz*r00/10000 + 12327121*r00/200000000)*sj0*htj1 + (-2157*px*r01/25000 + 2157*py*r00/25000)*cj2*htj1**3 + (2*px**2*r02 - 4*px*pz*r00 + 2*py**2*r02 - 4*py*pz*r01 - 2*pz**2*r02 + 317483323*r02/2500000000)*cj2*htj1**2 + (2157*px*r01/25000 - 2157*py*r00/25000)*cj2*htj1 + (px**2*r02 - 2*px*pz*r00 + 3511*px*r00/10000 + py**2*r02 - 2*py*pz*r01 + 3511*py*r01/10000 - pz**2*r02 + 3511*pz*r02/10000 + 4652649*r02/2500000000)*sj2*htj1**3 + (2157*px*r01/12500 - 2157*py*r00/12500)*sj2*htj1**2 + (-px**2*r02 + 2*px*pz*r00 + 3511*px*r00/10000 - py**2*r02 + 2*py*pz*r01 + 3511*py*r01/10000 + pz**2*r02 + 3511*pz*r02/10000 - 4652649*r02/2500000000)*sj2*htj1 + 4503393/1250000000*cj3*cj4*htj1**3 + 4503393/1250000000*cj3*cj4*htj1 - 883539/250000000*sj3*sj4*htj1**3 - 883539/250000000*sj3*sj4*htj1 + 12327121*r02/100000000*htj1**2, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[r00,r01,r02,px,py,pz]') INFO: assuming equation htj1 is non-zero, dividing by Poly((2157*px*r02/25000 - 2157*pz*r00/25000 + 7573227*r00/500000000)*cj0*cj2*htj1**3 + (2*px**2*r01 - 4*px*py*r00 - 2*py**2*r01 - 4*py*pz*r02 + 2*pz**2*r01 - 298872727*r01/2500000000)*cj0*cj2*htj1**2 + (-2157*px*r02/25000 + 2157*pz*r00/25000 + 7573227*r00/500000000)*cj0*cj2*htj1 + (px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 + 3511*py*r02/10000 + pz**2*r01 - 3511*pz*r01/10000 + 4652649*r01/2500000000)*cj0*sj2*htj1**3 + (-2157*px*r02/12500 + 2157*pz*r00/12500)*cj0*sj2*htj1**2 + (-px**2*r01 + 2*px*py*r00 + py**2*r01 + 2*py*pz*r02 + 3511*py*r02/10000 - pz**2*r01 - 3511*pz*r01/10000 - 4652649*r01/2500000000)*cj0*sj2*htj1 + 7573227*r00/500000000*cj0*htj1**3 - 12327121*r01/100000000*cj0*htj1**2 + 7573227*r00/500000000*cj0*htj1 + (2157*py*r02/25000 - 2157*pz*r01/25000 + 7573227*r01/500000000)*sj0*cj2*htj1**3 + (2*px**2*r00 + 4*px*py*r01 + 4*px*pz*r02 - 2*py**2*r00 - 2*pz**2*r00 + 298872727*r00/2500000000)*sj0*cj2*htj1**2 + (-2157*py*r02/25000 + 2157*pz*r01/25000 + 7573227*r01/500000000)*sj0*cj2*htj1 + (px**2*r00 + 2*px*py*r01 + 2*px*pz*r02 - 3511*px*r02/10000 - py**2*r00 - pz**2*r00 + 3511*pz*r00/10000 - 4652649*r00/2500000000)*sj0*sj2*htj1**3 + (-2157*py*r02/12500 + 2157*pz*r01/12500)*sj0*sj2*htj1**2 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 - 3511*px*r02/10000 + py**2*r00 + pz**2*r00 + 3511*pz*r00/10000 + 4652649*r00/2500000000)*sj0*sj2*htj1 + 7573227*r01/500000000*sj0*htj1**3 + 12327121*r00/100000000*sj0*htj1**2 + 7573227*r01/500000000*sj0*htj1 + (-px**2*r02 + 2*px*pz*r00 - 3511*px*r00/10000 - py**2*r02 + 2*py*pz*r01 - 3511*py*r01/10000 + pz**2*r02 - 3511*pz*r02/10000 + 298872727*r02/5000000000)*cj2*htj1**3 + (-2157*px*r01/12500 + 2157*py*r00/12500)*cj2*htj1**2 + (px**2*r02 - 2*px*pz*r00 - 3511*px*r00/10000 + py**2*r02 - 2*py*pz*r01 - 3511*py*r01/10000 - pz**2*r02 - 3511*pz*r02/10000 - 298872727*r02/5000000000)*cj2*htj1 + (-2157*px*r01/25000 + 2157*py*r00/25000)*sj2*htj1**3 + (2*px**2*r02 - 4*px*pz*r00 + 2*py**2*r02 - 4*py*pz*r01 - 2*pz**2*r02 + 4652649*r02/1250000000)*sj2*htj1**2 + (2157*px*r01/25000 - 2157*py*r00/25000)*sj2*htj1 + 883539/250000000*cj3*sj4*htj1**3 + 883539/250000000*cj3*sj4*htj1 + 4503393/1250000000*sj3*cj4*htj1**3 + 4503393/1250000000*sj3*cj4*htj1 + (-3511*px*r00/10000 - 3511*py*r01/10000 - 3511*pz*r02/10000 + 12327121*r02/200000000)*htj1**3 + (-3511*px*r00/10000 - 3511*py*r01/10000 - 3511*pz*r02/10000 - 12327121*r02/200000000)*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[r00,r01,r02,px,py,pz]') INFO: not unique: (Poly((-2157*px*r02/25000 + 2157*pz*r00/25000 - 7573227*r00/500000000)*cj0*cj2*htj1**2 + (-2*px**2*r01 + 4*px*py*r00 + 2*py**2*r01 + 4*py*pz*r02 - 2*pz**2*r01 + 298872727*r01/2500000000)*cj0*cj2*htj1 + (2157*px*r02/25000 - 2157*pz*r00/25000 - 7573227*r00/500000000)*cj0*cj2 + (-px**2*r01 + 2*px*py*r00 + py**2*r01 + 2*py*pz*r02 - 3511*py*r02/10000 - pz**2*r01 + 3511*pz*r01/10000 - 4652649*r01/2500000000)*cj0*sj2*htj1**2 + (2157*px*r02/12500 - 2157*pz*r00/12500)*cj0*sj2*htj1 + (px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 - 3511*py*r02/10000 + pz**2*r01 + 3511*pz*r01/10000 + 4652649*r01/2500000000)*cj0*sj2 - 7573227*r00/500000000*cj0*htj1**2 + 12327121*r01/100000000*cj0*htj1 - 7573227*r00/500000000*cj0 + (-2157*py*r02/25000 + 2157*pz*r01/25000 - 7573227*r01/500000000)*sj0*cj2*htj1**2 + (-2*px**2*r00 - 4*px*py*r01 - 4*px*pz*r02 + 2*py**2*r00 + 2*pz**2*r00 - 298872727*r00/2500000000)*sj0*cj2*htj1 + (2157*py*r02/25000 - 2157*pz*r01/25000 - 7573227*r01/500000000)*sj0*cj2 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 + 3511*px*r02/10000 + py**2*r00 + pz**2*r00 - 3511*pz*r00/10000 + 4652649*r00/2500000000)*sj0*sj2*htj1**2 + (2157*py*r02/12500 - 2157*pz*r01/12500)*sj0*sj2*htj1 + (px**2*r00 + 2*px*py*r01 + 2*px*pz*r02 + 3511*px*r02/10000 - py**2*r00 - pz**2*r00 - 3511*pz*r00/10000 - 4652649*r00/2500000000)*sj0*sj2 - 7573227*r01/500000000*sj0*htj1**2 - 12327121*r00/100000000*sj0*htj1 - 7573227*r01/500000000*sj0 + (px**2*r02 - 2*px*pz*r00 + 3511*px*r00/10000 + py**2*r02 - 2*py*pz*r01 + 3511*py*r01/10000 - pz**2*r02 + 3511*pz*r02/10000 - 298872727*r02/5000000000)*cj2*htj1**2 + (2157*px*r01/12500 - 2157*py*r00/12500)*cj2*htj1 + (-px**2*r02 + 2*px*pz*r00 + 3511*px*r00/10000 - py**2*r02 + 2*py*pz*r01 + 3511*py*r01/10000 + pz**2*r02 + 3511*pz*r02/10000 + 298872727*r02/5000000000)*cj2 + (2157*px*r01/25000 - 2157*py*r00/25000)*sj2*htj1**2 + (-2*px**2*r02 + 4*px*pz*r00 - 2*py**2*r02 + 4*py*pz*r01 + 2*pz**2*r02 - 4652649*r02/1250000000)*sj2*htj1 + (-2157*px*r01/25000 + 2157*py*r00/25000)*sj2 + (3511*px*r00/10000 + 3511*py*r01/10000 + 3511*pz*r02/10000 - 12327121*r02/200000000)*htj1**2, cj0, sj0, cj2, sj2, htj1, domain='QQ[r00,r01,r02,px,py,pz]'), Poly(883539/250000000*cj3*sj4*htj1**2 + 883539/250000000*cj3*sj4 + 4503393/1250000000*sj3*cj4*htj1**2 + 4503393/1250000000*sj3*cj4 - 3511*px*r00/10000 - 3511*py*r01/10000 - 3511*pz*r02/10000 - 12327121*r02/200000000, cj3, sj3, cj4, sj4, htj1, domain='QQ[r00,r01,r02,px,py,pz]')) INFO: assuming equation htj1 is non-zero, dividing by Poly((3511*px*r02/10000 - 3511*pz*r00/10000 + 12327121*r00/200000000)*cj0*cj2*htj1**3 + 7573227*r01/250000000*cj0*cj2*htj1**2 + (-3511*px*r02/10000 + 3511*pz*r00/10000 + 12327121*r00/200000000)*cj0*cj2*htj1 + 7573227*r01/500000000*cj0*sj2*htj1**3 + (-3511*px*r02/5000 + 3511*pz*r00/5000)*cj0*sj2*htj1**2 - 7573227*r01/500000000*cj0*sj2*htj1 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 + 3511*px*r02/10000 + py**2*r00 + pz**2*r00 - 3511*pz*r00/10000 + 298872727*r00/5000000000)*cj0*htj1**3 + 7573227*r01/250000000*cj0*htj1**2 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 - 3511*px*r02/10000 + py**2*r00 + pz**2*r00 + 3511*pz*r00/10000 + 298872727*r00/5000000000)*cj0*htj1 + (3511*py*r02/10000 - 3511*pz*r01/10000 + 12327121*r01/200000000)*sj0*cj2*htj1**3 - 7573227*r00/250000000*sj0*cj2*htj1**2 + (-3511*py*r02/10000 + 3511*pz*r01/10000 + 12327121*r01/200000000)*sj0*cj2*htj1 - 7573227*r00/500000000*sj0*sj2*htj1**3 + (-3511*py*r02/5000 + 3511*pz*r01/5000)*sj0*sj2*htj1**2 + 7573227*r00/500000000*sj0*sj2*htj1 + (px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 + 3511*py*r02/10000 + pz**2*r01 - 3511*pz*r01/10000 + 298872727*r01/5000000000)*sj0*htj1**3 - 7573227*r00/250000000*sj0*htj1**2 + (px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 - 3511*py*r02/10000 + pz**2*r01 + 3511*pz*r01/10000 + 298872727*r01/5000000000)*sj0*htj1 - 7573227*r02/500000000*cj2*htj1**3 + (-3511*px*r01/5000 + 3511*py*r00/5000)*cj2*htj1**2 + 7573227*r02/500000000*cj2*htj1 + (-3511*px*r01/10000 + 3511*py*r00/10000)*sj2*htj1**3 + 7573227*r02/250000000*sj2*htj1**2 + (3511*px*r01/10000 - 3511*py*r00/10000)*sj2*htj1 + 6831/9765625*sj4*htj1**3 + 6831/9765625*sj4*htj1 + (2157*px*r00/25000 + 2157*py*r01/25000 + 2157*pz*r02/25000 - 7573227*r02/500000000)*htj1**3 + (-3511*px*r01/5000 + 3511*py*r00/5000)*htj1**2 + (2157*px*r00/25000 + 2157*py*r01/25000 + 2157*pz*r02/25000 + 7573227*r02/500000000)*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[r00,r01,r02,px,py,pz]') INFO: assuming equation htj1 is non-zero, dividing by Poly(px*cj0*htj1 + py*sj0*htj1 - 2031/25000*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py]') INFO: not unique: (Poly(-px*cj0 - py*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[px,py]'), Poly(-2031/25000, cj3, sj3, cj4, sj4, htj1, domain='QQ')) INFO: assuming equation htj1 is non-zero, dividing by Poly(r00*cj0*htj1 + r01*sj0*htj1 + sj4*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='ZZ[r00,r01]') INFO: not unique: (Poly(-r00*cj0 - r01*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01]'), Poly(sj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ')) INFO: assuming equation htj1 is non-zero, dividing by Poly(r01*cj0*cj2*htj1**3 - r01*cj0*cj2*htj1 - 2*r01*cj0*sj2*htj1**2 - r00*sj0*cj2*htj1**3 + r00*sj0*cj2*htj1 + 2*r00*sj0*sj2*htj1**2 + 2*r02*cj2*htj1**2 + r02*sj2*htj1**3 - r02*sj2*htj1 + cj3*cj4*htj1**3 + cj3*cj4*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='ZZ[r00,r01,r02]') INFO: not unique: (Poly(-r01*cj0*cj2*htj1**2 + r01*cj0*cj2 + 2*r01*cj0*sj2*htj1 + r00*sj0*cj2*htj1**2 - r00*sj0*cj2 - 2*r00*sj0*sj2*htj1 - 2*r02*cj2*htj1 - r02*sj2*htj1**2 + r02*sj2, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01,r02]'), Poly(cj3*cj4*htj1**2 + cj3*cj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ')) INFO: assuming equation htj1 is non-zero, dividing by Poly(2*r01*cj0*cj2*htj1**2 + r01*cj0*sj2*htj1**3 - r01*cj0*sj2*htj1 - 2*r00*sj0*cj2*htj1**2 - r00*sj0*sj2*htj1**3 + r00*sj0*sj2*htj1 - r02*cj2*htj1**3 + r02*cj2*htj1 + 2*r02*sj2*htj1**2 + sj3*cj4*htj1**3 + sj3*cj4*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='ZZ[r00,r01,r02]') INFO: not unique: (Poly(-2*r01*cj0*cj2*htj1 - r01*cj0*sj2*htj1**2 + r01*cj0*sj2 + 2*r00*sj0*cj2*htj1 + r00*sj0*sj2*htj1**2 - r00*sj0*sj2 + r02*cj2*htj1**2 - r02*cj2 - 2*r02*sj2*htj1, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01,r02]'), Poly(sj3*cj4*htj1**2 + sj3*cj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ')) INFO: assuming equation htj1 is non-zero, dividing by Poly(py*cj0*cj2*htj1**3 - py*cj0*cj2*htj1 - 2*py*cj0*sj2*htj1**2 - px*sj0*cj2*htj1**3 + px*sj0*cj2*htj1 + 2*px*sj0*sj2*htj1**2 + 2*pz*cj2*htj1**2 + (pz - 3511/20000)*sj2*htj1**3 + (-pz - 3511/20000)*sj2*htj1 - 2319/50000*sj3*htj1**3 - 2319/50000*sj3*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py,pz]') INFO: not unique: (Poly(-py*cj0*cj2*htj1**2 + py*cj0*cj2 + 2*py*cj0*sj2*htj1 + px*sj0*cj2*htj1**2 - px*sj0*cj2 - 2*px*sj0*sj2*htj1 - 2*pz*cj2*htj1 + (-pz + 3511/20000)*sj2*htj1**2 + (pz + 3511/20000)*sj2, cj0, sj0, cj2, sj2, htj1, domain='QQ[px,py,pz]'), Poly(-2319/50000*sj3*htj1**2 - 2319/50000*sj3, cj3, sj3, cj4, sj4, htj1, domain='QQ')) INFO: assuming equation htj1 is non-zero, dividing by Poly(2*py*cj0*cj2*htj1**2 + py*cj0*sj2*htj1**3 - py*cj0*sj2*htj1 - 2*px*sj0*cj2*htj1**2 - px*sj0*sj2*htj1**3 + px*sj0*sj2*htj1 + (-pz + 3511/20000)*cj2*htj1**3 + (pz + 3511/20000)*cj2*htj1 + 2*pz*sj2*htj1**2 + 2319/50000*cj3*htj1**3 + 2319/50000*cj3*htj1 + 3511/20000*htj1**3 + 3511/20000*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py,pz]') INFO: not unique: (Poly(-2*py*cj0*cj2*htj1 - py*cj0*sj2*htj1**2 + py*cj0*sj2 + 2*px*sj0*cj2*htj1 + px*sj0*sj2*htj1**2 - px*sj0*sj2 + (pz - 3511/20000)*cj2*htj1**2 + (-pz - 3511/20000)*cj2 - 2*pz*sj2*htj1, cj0, sj0, cj2, sj2, htj1, domain='QQ[px,py,pz]'), Poly(2319/50000*cj3*htj1**2 + 2319/50000*cj3 + 3511/20000*htj1**2 + 3511/20000, cj3, sj3, cj4, sj4, htj1, domain='QQ')) INFO: not unique: [Poly(-r00*cj0 - r01*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01]'), Poly(sj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ')] INFO: assuming equation htj1 is non-zero, dividing by Poly(r00*cj0*htj1 + r01*sj0*htj1 + sj4*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='ZZ[r00,r01]') INFO: not unique: (Poly(-r00*cj0 - r01*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01]'), Poly(sj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ')) INFO: not unique: [Poly(-px*cj0 - py*sj0, cj0, sj0, cj2, sj2, htj1, domain='QQ[px,py]'), Poly(-2031/25000, cj3, sj3, cj4, sj4, htj1, domain='QQ')] INFO: assuming equation htj1 is non-zero, dividing by Poly(px*cj0*htj1 + py*sj0*htj1 - 2031/25000*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py]') INFO: not unique: (Poly(-px*cj0 - py*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[px,py]'), Poly(-2031/25000, cj3, sj3, cj4, sj4, htj1, domain='QQ')) WARNING: CannotSolveError: reduced equations are zero INFO: attempting kohli/osvatic general ik method INFO: solving for all pairwise variables in (cj0, sj0, cj1, sj1), number of symbol coeffs are 15 INFO: solving for all pairwise variables in (cj0, sj0, cj1, sj1), number of symbol coeffs are 22 WARNING: CannotSolveError: KohliOsvatic method: could not reduce the equations INFO: attempting kohli/osvatic general ik method WARNING: CannotSolveError: need 8 or less equations of one variable, currently have 12 Traceback (most recent call last): File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 9521, in <module> chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2281, in generateIkSolver chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2803, in solveFullIK_TranslationDirection5D raise self.CannotSolveError('raghavan roth equations too complex') __main__.CannotSolveError: CannotSolveError: raghavan roth equations too complex Pls see the urdf file in the innfox.urdf <http://openrave-users-list.185357.n3.nabble.com/file/t496517/innfox.urdf> attachment BR Thx. -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: onlooker <hub...@by...> - 2020-07-08 11:13:45
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Meet a solve issue when generating IK solver with the manuel http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html.Hardware: 5-dof innfos which was 6-dof but the wrist3 joint is broken, so I move the wrist3 joint and change the urdf to 5-dof robot...Reference information:export MYROBOT_NAME="innfox"export PLANNING_GROUP="bytedance_arm"export BASE_LINK="0"export EEF_LINK="5"export IKFAST_OUTPUT_PATH=`pwd`/ikfast61_"$PLANNING_GROUP".cppexport IKFAST_PRECISION="5"$openrave-robot.py "$MYROBOT_NAME".dae --info linksname index parents ---------------------------------base_link 0 shoulder_link 1 base_link elbow_link 2 shoulder_linkelbow2_link 3 elbow_link wrist_link 4 elbow2_link wrist2_link 5 wrist_link ---------------------------------name index parentsGenerate command:$python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=translationdirection5d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --savefile="$IKFAST_OUTPUT_PATH"======================generate log ============================================INFO: moved translation [0, 0, -2319/50000] to right endINFO: moved translation [0, 0, -2951/50000] to left endINFO: moved translation on intersecting axis [0, 0, 63/12500] to leftINFO: [[1, 0, 0, 0],[0, -1, 0, 0],[0, 0, -1, 2691/25000]]INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]INFO: [[0, 0, -1, 381/10000],[1, 0, 0, 0],[0, -1, 0, 0]]INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]INFO: [[-1, 0, 0, 0],[0, 1, 0, 3511/20000],[0, 0, -1, -63/12500]]INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]INFO: [[-1, 0, 0, 0],[0, 1, 0, 3511/20000],[0, 0, -1, 0]]INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]INFO: [[0, 1, 0, 0],[0, 0, -1, 0],[-1, 0, 0, -381/10000]]INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]INFO: [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, -2319/50000]]INFO: ikfast translation direction 5d: [j0, j1, j2, j3, j4], direction=[0][0][1]INFO: computed in 0.467370sINFO: attempting li/woernle/hiller general ik methodINFO: allowed indices: [0]INFO: assuming equation htj2 is non-zero, dividing by Poly(-px*cj0*htj2 - py*sj0*htj2 + 2031/25000*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py]')INFO: factors 1 reduced not unique: -cj0*px - py*sj0 + 2031/25000INFO: assuming equation htj2 is non-zero, dividing by Poly(-sj4*htj2 - r00*cj0*htj2 - r01*sj0*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='ZZ[r00,r01]')INFO: not unique: (Poly(sj4, cj3, sj3, cj4, sj4, htj2, domain='ZZ'), Poly(-r00*cj0 - r01*sj0, cj0, sj0, cj1, sj1, htj2, domain='ZZ[r00,r01]'))INFO: assuming equation htj2 is non-zero, dividing by Poly(3511/20000*cj3*cj4*htj2**2 + 3511*r01/20000*cj0*cj1*htj2**2 - 3511*r01/10000*cj0*sj1*htj2 + 2031*r00/25000*cj0*htj2 - 3511*r00/20000*sj0*cj1*htj2**2 + 3511*r00/10000*sj0*sj1*htj2 + 2031*r01/25000*sj0*htj2 - 3511*r02/10000*cj1*htj2 - 3511*r02/20000*sj1*htj2**2 + (-px*r00 - py*r01 - pz*r02)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]')INFO: not unique: (Poly(-3511/20000*cj3*cj4*htj2, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(3511*r01/20000*cj0*cj1*htj2 - 3511*r01/10000*cj0*sj1 + 2031*r00/25000*cj0 - 3511*r00/20000*sj0*cj1*htj2 + 3511*r00/10000*sj0*sj1 + 2031*r01/25000*sj0 - 3511*r02/10000*cj1 - 3511*r02/20000*sj1*htj2 - px*r00 - py*r01 - pz*r02, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]'))INFO: assuming equation htj2 is non-zero, dividing by Poly(-18881318871/25000000000000*sj3*htj2**2 + 8142009*py/500000000*cj0*cj1*htj2**2 - 8142009*py/250000000*cj0*sj1*htj2 + 5002083*px/1250000000*cj0*htj2 - 8142009*px/500000000*sj0*cj1*htj2**2 + 8142009*px/250000000*sj0*sj1*htj2 + 5002083*py/1250000000*sj0*htj2 - 8142009*pz/250000000*cj1*htj2 - 8142009*pz/500000000*sj1*htj2**2 + (-2319*px**2/50000 - 2319*py**2/50000 - 2319*pz**2/50000 - 44035474767/7812500000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]')INFO: not unique: (Poly(18881318871/25000000000000*sj3*htj2, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(8142009*py/500000000*cj0*cj1*htj2 - 8142009*py/250000000*cj0*sj1 + 5002083*px/1250000000*cj0 - 8142009*px/500000000*sj0*cj1*htj2 + 8142009*px/250000000*sj0*sj1 + 5002083*py/1250000000*sj0 - 8142009*pz/250000000*cj1 - 8142009*pz/500000000*sj1*htj2 - 2319*px**2/50000 - 2319*py**2/50000 - 2319*pz**2/50000 - 44035474767/7812500000000, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]'))INFO: assuming equation htj2 is non-zero, dividing by Poly(-3511/20000*sj3*cj4*htj2**3 + 3511*r01/10000*cj0*cj1*htj2**2 + 3511*r01/20000*cj0*sj1*htj2**3 - 3511*r01/10000*cj0*sj1*htj2 + 2031*r00/25000*cj0*htj2 - 3511*r00/10000*sj0*cj1*htj2**2 - 3511*r00/20000*sj0*sj1*htj2**3 + 3511*r00/10000*sj0*sj1*htj2 + 2031*r01/25000*sj0*htj2 + 3511*r02/20000*cj1*htj2**3 - 3511*r02/10000*cj1*htj2 - 3511*r02/10000*sj1*htj2**2 + (-px*r00 - py*r01 - pz*r02)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]')INFO: not unique: (Poly(3511/20000*sj3*cj4*htj2**2, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(3511*r01/10000*cj0*cj1*htj2 + 3511*r01/20000*cj0*sj1*htj2**2 - 3511*r01/10000*cj0*sj1 + 2031*r00/25000*cj0 - 3511*r00/10000*sj0*cj1*htj2 - 3511*r00/20000*sj0*sj1*htj2**2 + 3511*r00/10000*sj0*sj1 + 2031*r01/25000*sj0 + 3511*r02/20000*cj1*htj2**2 - 3511*r02/10000*cj1 - 3511*r02/10000*sj1*htj2 - px*r00 - py*r01 - pz*r02, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]'))INFO: assuming equation htj2 is non-zero, dividing by Poly(-18881318871/25000000000000*cj3*htj2**3 + 8142009*py/250000000*cj0*cj1*htj2**2 + 8142009*py/500000000*cj0*sj1*htj2**3 - 8142009*py/250000000*cj0*sj1*htj2 + 5002083*px/1250000000*cj0*htj2 - 8142009*px/250000000*sj0*cj1*htj2**2 - 8142009*px/500000000*sj0*sj1*htj2**3 + 8142009*px/250000000*sj0*sj1*htj2 + 5002083*py/1250000000*sj0*htj2 + 8142009*pz/500000000*cj1*htj2**3 - 8142009*pz/250000000*cj1*htj2 - 8142009*pz/250000000*sj1*htj2**2 + (-2319*px**2/50000 - 2319*py**2/50000 - 2319*pz**2/50000 - 44035474767/7812500000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]')INFO: not unique: (Poly(18881318871/25000000000000*cj3*htj2**2 + 28586593599/10000000000000*htj2**2, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(8142009*py/250000000*cj0*cj1*htj2 + 8142009*py/500000000*cj0*sj1*htj2**2 - 8142009*py/250000000*cj0*sj1 + 5002083*px/1250000000*cj0 - 8142009*px/250000000*sj0*cj1*htj2 - 8142009*px/500000000*sj0*sj1*htj2**2 + 8142009*px/250000000*sj0*sj1 + 5002083*py/1250000000*sj0 + 8142009*pz/500000000*cj1*htj2**2 - 8142009*pz/250000000*cj1 - 8142009*pz/250000000*sj1*htj2 + 28586593599/10000000000000*htj2**2 - 2319*px**2/50000 - 2319*py**2/50000 - 2319*pz**2/50000 - 44035474767/7812500000000, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]'))INFO: factors 0 reduced not unique: 0INFO: factors 1 reduced not unique: cj0*px + py*sj0 - 2031/25000INFO: assuming equation htj2 is non-zero, dividing by Poly(px*cj0*htj2 + py*sj0*htj2 - 2031/25000*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py]')INFO: factors 1 reduced not unique: cj0*px + py*sj0 - 2031/25000INFO: assuming equation htj2 is non-zero, dividing by Poly(-8142009/500000000*cj3*htj2 + 3511*py/10000*cj0*sj1*htj2 - 2157*px/25000*cj0*htj2 - 3511*px/10000*sj0*sj1*htj2 - 2157*py/25000*sj0*htj2 + 3511*pz/10000*cj1*htj2 + (px**2 + py**2 + pz**2 - 4354137/2500000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]')INFO: not unique: (Poly(8142009/500000000*cj3, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(3511*py/10000*cj0*sj1 - 2157*px/25000*cj0 - 3511*px/10000*sj0*sj1 - 2157*py/25000*sj0 + 3511*pz/10000*cj1 + px**2 + py**2 + pz**2 - 4354137/2500000000, cj0, sj0, cj1, sj1, htj2, domain='QQ[px,py,pz]'))INFO: assuming equation htj2 is non-zero, dividing by Poly(-3511/20000*sj3*cj4*htj2 + 3511*r01/20000*cj0*sj1*htj2 - 2031*r00/25000*cj0*htj2 - 3511*r00/20000*sj0*sj1*htj2 - 2031*r01/25000*sj0*htj2 + 3511*r02/20000*cj1*htj2 + (px*r00 + py*r01 + pz*r02)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]')INFO: not unique: (Poly(3511/20000*sj3*cj4, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly(3511*r01/20000*cj0*sj1 - 2031*r00/25000*cj0 - 3511*r00/20000*sj0*sj1 - 2031*r01/25000*sj0 + 3511*r02/20000*cj1 + px*r00 + py*r01 + pz*r02, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]'))INFO: assuming equation htj2 is non-zero, dividing by Poly(28586593599/10000000000000*cj3*sj4*htj2 + (-12327121*px*r02/200000000 + 12327121*pz*r00/200000000)*cj0*cj1*htj2 + 25036382751*r01/5000000000000*cj0*sj1*htj2 + (-3511*px**2*r00/20000 - 3511*px*py*r01/10000 - 3511*px*pz*r02/10000 + 3511*py**2*r00/20000 + 3511*pz**2*r00/20000 - 15362454231*r00/10000000000000)*cj0*htj2 + (-12327121*py*r02/200000000 + 12327121*pz*r01/200000000)*sj0*cj1*htj2 - 25036382751*r00/5000000000000*sj0*sj1*htj2 + (3511*px**2*r01/20000 - 3511*px*py*r00/10000 - 3511*py**2*r01/20000 - 3511*py*pz*r02/10000 + 3511*pz**2*r01/20000 - 15362454231*r01/10000000000000)*sj0*htj2 + 25036382751*r02/5000000000000*cj1*htj2 + (-12327121*px*r01/200000000 + 12327121*py*r00/200000000)*sj1*htj2 + (7130841*px*r00/250000000 + 7130841*py*r01/250000000 + 7130841*pz*r02/250000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]')INFO: not unique: (Poly(-28586593599/10000000000000*cj3*sj4, cj3, sj3, cj4, sj4, htj2, domain='QQ'), Poly((-12327121*px*r02/200000000 + 12327121*pz*r00/200000000)*cj0*cj1 + 25036382751*r01/5000000000000*cj0*sj1 + (-3511*px**2*r00/20000 - 3511*px*py*r01/10000 - 3511*px*pz*r02/10000 + 3511*py**2*r00/20000 + 3511*pz**2*r00/20000 - 15362454231*r00/10000000000000)*cj0 + (-12327121*py*r02/200000000 + 12327121*pz*r01/200000000)*sj0*cj1 - 25036382751*r00/5000000000000*sj0*sj1 + (3511*px**2*r01/20000 - 3511*px*py*r00/10000 - 3511*py**2*r01/20000 - 3511*py*pz*r02/10000 + 3511*pz**2*r01/20000 - 15362454231*r01/10000000000000)*sj0 + 25036382751*r02/5000000000000*cj1 + (-12327121*px*r01/200000000 + 12327121*py*r00/200000000)*sj1 + 7130841*px*r00/250000000 + 7130841*py*r01/250000000 + 7130841*pz*r02/250000000, cj0, sj0, cj1, sj1, htj2, domain='QQ[r00,r01,r02,px,py,pz]'))INFO: matrix has 0 symbolsWARNING: CannotSolveError: coefficient matrix is singularINFO: computed in 0.837436sINFO: attempting li/woernle/hiller general ik methodWARNING: could not find any variable where number of equations is exacty 8, trying all possibilitiesINFO: allowed indices: [0, 2, 4]WARNING: allowedindex 0 found 0 equations where coefficients of equations matchINFO: assuming equation htj1 is non-zero, dividing by Poly(-3511*py/5000*cj0*cj2*htj1**2 - 3511*py/10000*cj0*sj2*htj1**3 + 3511*py/10000*cj0*sj2*htj1 + 2157*px/25000*cj0*htj1**3 - 3511*py/5000*cj0*htj1**2 + 2157*px/25000*cj0*htj1 + 3511*px/5000*sj0*cj2*htj1**2 + 3511*px/10000*sj0*sj2*htj1**3 - 3511*px/10000*sj0*sj2*htj1 + 2157*py/25000*sj0*htj1**3 + 3511*px/5000*sj0*htj1**2 + 2157*py/25000*sj0*htj1 + (3511*pz/10000 - 12327121/200000000)*cj2*htj1**3 + (-3511*pz/10000 - 12327121/200000000)*cj2*htj1 - 3511*pz/5000*sj2*htj1**2 + (-px**2 - py**2 - pz**2 + 3511*pz/10000 - 299469751/5000000000)*htj1**3 + (-px**2 - py**2 - pz**2 - 3511*pz/10000 - 299469751/5000000000)*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py,pz]')INFO: not unique: (Poly(3511*py/5000*cj0*cj2*htj1 + 3511*py/10000*cj0*sj2*htj1**2 - 3511*py/10000*cj0*sj2 - 2157*px/25000*cj0*htj1**2 + 3511*py/5000*cj0*htj1 - 2157*px/25000*cj0 - 3511*px/5000*sj0*cj2*htj1 - 3511*px/10000*sj0*sj2*htj1**2 + 3511*px/10000*sj0*sj2 - 2157*py/25000*sj0*htj1**2 - 3511*px/5000*sj0*htj1 - 2157*py/25000*sj0 + (-3511*pz/10000 + 12327121/200000000)*cj2*htj1**2 + (3511*pz/10000 + 12327121/200000000)*cj2 + 3511*pz/5000*sj2*htj1 + (px**2 + py**2 + pz**2 - 3511*pz/10000 + 317483323/5000000000)*htj1**2, cj0, sj0, cj2, sj2, htj1, domain='QQ[px,py,pz]'), Poly(4503393/1250000000*htj1**2 - px**2 - py**2 - pz**2 - 3511*pz/10000 - 299469751/5000000000, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py,pz]'))INFO: assuming equation htj1 is non-zero, dividing by Poly((px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 + 3511*py*r02/10000 + pz**2*r01 - 3511*pz*r01/10000 + 317483323*r01/5000000000)*cj0*cj2*htj1**3 + (-2157*px*r02/12500 + 2157*pz*r00/12500)*cj0*cj2*htj1**2 + (-px**2*r01 + 2*px*py*r00 + py**2*r01 + 2*py*pz*r02 + 3511*py*r02/10000 - pz**2*r01 - 3511*pz*r01/10000 - 317483323*r01/5000000000)*cj0*cj2*htj1 + (-2157*px*r02/25000 + 2157*pz*r00/25000 - 7573227*r00/500000000)*cj0*sj2*htj1**3 + (-2*px**2*r01 + 4*px*py*r00 + 2*py**2*r01 + 4*py*pz*r02 - 2*pz**2*r01 - 4652649*r01/1250000000)*cj0*sj2*htj1**2 + (2157*px*r02/25000 - 2157*pz*r00/25000 - 7573227*r00/500000000)*cj0*sj2*htj1 + (3511*py*r02/10000 - 3511*pz*r01/10000 + 12327121*r01/200000000)*cj0*htj1**3 + (3511*py*r02/10000 - 3511*pz*r01/10000 - 12327121*r01/200000000)*cj0*htj1 + (px**2*r00 + 2*px*py*r01 + 2*px*pz*r02 - 3511*px*r02/10000 - py**2*r00 - pz**2*r00 + 3511*pz*r00/10000 - 317483323*r00/5000000000)*sj0*cj2*htj1**3 + (-2157*py*r02/12500 + 2157*pz*r01/12500)*sj0*cj2*htj1**2 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 - 3511*px*r02/10000 + py**2*r00 + pz**2*r00 + 3511*pz*r00/10000 + 317483323*r00/5000000000)*sj0*cj2*htj1 + (-2157*py*r02/25000 + 2157*pz*r01/25000 - 7573227*r01/500000000)*sj0*sj2*htj1**3 + (-2*px**2*r00 - 4*px*py*r01 - 4*px*pz*r02 + 2*py**2*r00 + 2*pz**2*r00 + 4652649*r00/1250000000)*sj0*sj2*htj1**2 + (2157*py*r02/25000 - 2157*pz*r01/25000 - 7573227*r01/500000000)*sj0*sj2*htj1 + (-3511*px*r02/10000 + 3511*pz*r00/10000 - 12327121*r00/200000000)*sj0*htj1**3 + (-3511*px*r02/10000 + 3511*pz*r00/10000 + 12327121*r00/200000000)*sj0*htj1 + (-2157*px*r01/25000 + 2157*py*r00/25000)*cj2*htj1**3 + (2*px**2*r02 - 4*px*pz*r00 + 2*py**2*r02 - 4*py*pz*r01 - 2*pz**2*r02 + 317483323*r02/2500000000)*cj2*htj1**2 + (2157*px*r01/25000 - 2157*py*r00/25000)*cj2*htj1 + (px**2*r02 - 2*px*pz*r00 + 3511*px*r00/10000 + py**2*r02 - 2*py*pz*r01 + 3511*py*r01/10000 - pz**2*r02 + 3511*pz*r02/10000 + 4652649*r02/2500000000)*sj2*htj1**3 + (2157*px*r01/12500 - 2157*py*r00/12500)*sj2*htj1**2 + (-px**2*r02 + 2*px*pz*r00 + 3511*px*r00/10000 - py**2*r02 + 2*py*pz*r01 + 3511*py*r01/10000 + pz**2*r02 + 3511*pz*r02/10000 - 4652649*r02/2500000000)*sj2*htj1 + 4503393/1250000000*cj3*cj4*htj1**3 + 4503393/1250000000*cj3*cj4*htj1 - 883539/250000000*sj3*sj4*htj1**3 - 883539/250000000*sj3*sj4*htj1 + 12327121*r02/100000000*htj1**2, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[r00,r01,r02,px,py,pz]')INFO: assuming equation htj1 is non-zero, dividing by Poly((2157*px*r02/25000 - 2157*pz*r00/25000 + 7573227*r00/500000000)*cj0*cj2*htj1**3 + (2*px**2*r01 - 4*px*py*r00 - 2*py**2*r01 - 4*py*pz*r02 + 2*pz**2*r01 - 298872727*r01/2500000000)*cj0*cj2*htj1**2 + (-2157*px*r02/25000 + 2157*pz*r00/25000 + 7573227*r00/500000000)*cj0*cj2*htj1 + (px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 + 3511*py*r02/10000 + pz**2*r01 - 3511*pz*r01/10000 + 4652649*r01/2500000000)*cj0*sj2*htj1**3 + (-2157*px*r02/12500 + 2157*pz*r00/12500)*cj0*sj2*htj1**2 + (-px**2*r01 + 2*px*py*r00 + py**2*r01 + 2*py*pz*r02 + 3511*py*r02/10000 - pz**2*r01 - 3511*pz*r01/10000 - 4652649*r01/2500000000)*cj0*sj2*htj1 + 7573227*r00/500000000*cj0*htj1**3 - 12327121*r01/100000000*cj0*htj1**2 + 7573227*r00/500000000*cj0*htj1 + (2157*py*r02/25000 - 2157*pz*r01/25000 + 7573227*r01/500000000)*sj0*cj2*htj1**3 + (2*px**2*r00 + 4*px*py*r01 + 4*px*pz*r02 - 2*py**2*r00 - 2*pz**2*r00 + 298872727*r00/2500000000)*sj0*cj2*htj1**2 + (-2157*py*r02/25000 + 2157*pz*r01/25000 + 7573227*r01/500000000)*sj0*cj2*htj1 + (px**2*r00 + 2*px*py*r01 + 2*px*pz*r02 - 3511*px*r02/10000 - py**2*r00 - pz**2*r00 + 3511*pz*r00/10000 - 4652649*r00/2500000000)*sj0*sj2*htj1**3 + (-2157*py*r02/12500 + 2157*pz*r01/12500)*sj0*sj2*htj1**2 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 - 3511*px*r02/10000 + py**2*r00 + pz**2*r00 + 3511*pz*r00/10000 + 4652649*r00/2500000000)*sj0*sj2*htj1 + 7573227*r01/500000000*sj0*htj1**3 + 12327121*r00/100000000*sj0*htj1**2 + 7573227*r01/500000000*sj0*htj1 + (-px**2*r02 + 2*px*pz*r00 - 3511*px*r00/10000 - py**2*r02 + 2*py*pz*r01 - 3511*py*r01/10000 + pz**2*r02 - 3511*pz*r02/10000 + 298872727*r02/5000000000)*cj2*htj1**3 + (-2157*px*r01/12500 + 2157*py*r00/12500)*cj2*htj1**2 + (px**2*r02 - 2*px*pz*r00 - 3511*px*r00/10000 + py**2*r02 - 2*py*pz*r01 - 3511*py*r01/10000 - pz**2*r02 - 3511*pz*r02/10000 - 298872727*r02/5000000000)*cj2*htj1 + (-2157*px*r01/25000 + 2157*py*r00/25000)*sj2*htj1**3 + (2*px**2*r02 - 4*px*pz*r00 + 2*py**2*r02 - 4*py*pz*r01 - 2*pz**2*r02 + 4652649*r02/1250000000)*sj2*htj1**2 + (2157*px*r01/25000 - 2157*py*r00/25000)*sj2*htj1 + 883539/250000000*cj3*sj4*htj1**3 + 883539/250000000*cj3*sj4*htj1 + 4503393/1250000000*sj3*cj4*htj1**3 + 4503393/1250000000*sj3*cj4*htj1 + (-3511*px*r00/10000 - 3511*py*r01/10000 - 3511*pz*r02/10000 + 12327121*r02/200000000)*htj1**3 + (-3511*px*r00/10000 - 3511*py*r01/10000 - 3511*pz*r02/10000 - 12327121*r02/200000000)*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[r00,r01,r02,px,py,pz]')INFO: not unique: (Poly((-2157*px*r02/25000 + 2157*pz*r00/25000 - 7573227*r00/500000000)*cj0*cj2*htj1**2 + (-2*px**2*r01 + 4*px*py*r00 + 2*py**2*r01 + 4*py*pz*r02 - 2*pz**2*r01 + 298872727*r01/2500000000)*cj0*cj2*htj1 + (2157*px*r02/25000 - 2157*pz*r00/25000 - 7573227*r00/500000000)*cj0*cj2 + (-px**2*r01 + 2*px*py*r00 + py**2*r01 + 2*py*pz*r02 - 3511*py*r02/10000 - pz**2*r01 + 3511*pz*r01/10000 - 4652649*r01/2500000000)*cj0*sj2*htj1**2 + (2157*px*r02/12500 - 2157*pz*r00/12500)*cj0*sj2*htj1 + (px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 - 3511*py*r02/10000 + pz**2*r01 + 3511*pz*r01/10000 + 4652649*r01/2500000000)*cj0*sj2 - 7573227*r00/500000000*cj0*htj1**2 + 12327121*r01/100000000*cj0*htj1 - 7573227*r00/500000000*cj0 + (-2157*py*r02/25000 + 2157*pz*r01/25000 - 7573227*r01/500000000)*sj0*cj2*htj1**2 + (-2*px**2*r00 - 4*px*py*r01 - 4*px*pz*r02 + 2*py**2*r00 + 2*pz**2*r00 - 298872727*r00/2500000000)*sj0*cj2*htj1 + (2157*py*r02/25000 - 2157*pz*r01/25000 - 7573227*r01/500000000)*sj0*cj2 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 + 3511*px*r02/10000 + py**2*r00 + pz**2*r00 - 3511*pz*r00/10000 + 4652649*r00/2500000000)*sj0*sj2*htj1**2 + (2157*py*r02/12500 - 2157*pz*r01/12500)*sj0*sj2*htj1 + (px**2*r00 + 2*px*py*r01 + 2*px*pz*r02 + 3511*px*r02/10000 - py**2*r00 - pz**2*r00 - 3511*pz*r00/10000 - 4652649*r00/2500000000)*sj0*sj2 - 7573227*r01/500000000*sj0*htj1**2 - 12327121*r00/100000000*sj0*htj1 - 7573227*r01/500000000*sj0 + (px**2*r02 - 2*px*pz*r00 + 3511*px*r00/10000 + py**2*r02 - 2*py*pz*r01 + 3511*py*r01/10000 - pz**2*r02 + 3511*pz*r02/10000 - 298872727*r02/5000000000)*cj2*htj1**2 + (2157*px*r01/12500 - 2157*py*r00/12500)*cj2*htj1 + (-px**2*r02 + 2*px*pz*r00 + 3511*px*r00/10000 - py**2*r02 + 2*py*pz*r01 + 3511*py*r01/10000 + pz**2*r02 + 3511*pz*r02/10000 + 298872727*r02/5000000000)*cj2 + (2157*px*r01/25000 - 2157*py*r00/25000)*sj2*htj1**2 + (-2*px**2*r02 + 4*px*pz*r00 - 2*py**2*r02 + 4*py*pz*r01 + 2*pz**2*r02 - 4652649*r02/1250000000)*sj2*htj1 + (-2157*px*r01/25000 + 2157*py*r00/25000)*sj2 + (3511*px*r00/10000 + 3511*py*r01/10000 + 3511*pz*r02/10000 - 12327121*r02/200000000)*htj1**2, cj0, sj0, cj2, sj2, htj1, domain='QQ[r00,r01,r02,px,py,pz]'), Poly(883539/250000000*cj3*sj4*htj1**2 + 883539/250000000*cj3*sj4 + 4503393/1250000000*sj3*cj4*htj1**2 + 4503393/1250000000*sj3*cj4 - 3511*px*r00/10000 - 3511*py*r01/10000 - 3511*pz*r02/10000 - 12327121*r02/200000000, cj3, sj3, cj4, sj4, htj1, domain='QQ[r00,r01,r02,px,py,pz]'))INFO: assuming equation htj1 is non-zero, dividing by Poly((3511*px*r02/10000 - 3511*pz*r00/10000 + 12327121*r00/200000000)*cj0*cj2*htj1**3 + 7573227*r01/250000000*cj0*cj2*htj1**2 + (-3511*px*r02/10000 + 3511*pz*r00/10000 + 12327121*r00/200000000)*cj0*cj2*htj1 + 7573227*r01/500000000*cj0*sj2*htj1**3 + (-3511*px*r02/5000 + 3511*pz*r00/5000)*cj0*sj2*htj1**2 - 7573227*r01/500000000*cj0*sj2*htj1 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 + 3511*px*r02/10000 + py**2*r00 + pz**2*r00 - 3511*pz*r00/10000 + 298872727*r00/5000000000)*cj0*htj1**3 + 7573227*r01/250000000*cj0*htj1**2 + (-px**2*r00 - 2*px*py*r01 - 2*px*pz*r02 - 3511*px*r02/10000 + py**2*r00 + pz**2*r00 + 3511*pz*r00/10000 + 298872727*r00/5000000000)*cj0*htj1 + (3511*py*r02/10000 - 3511*pz*r01/10000 + 12327121*r01/200000000)*sj0*cj2*htj1**3 - 7573227*r00/250000000*sj0*cj2*htj1**2 + (-3511*py*r02/10000 + 3511*pz*r01/10000 + 12327121*r01/200000000)*sj0*cj2*htj1 - 7573227*r00/500000000*sj0*sj2*htj1**3 + (-3511*py*r02/5000 + 3511*pz*r01/5000)*sj0*sj2*htj1**2 + 7573227*r00/500000000*sj0*sj2*htj1 + (px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 + 3511*py*r02/10000 + pz**2*r01 - 3511*pz*r01/10000 + 298872727*r01/5000000000)*sj0*htj1**3 - 7573227*r00/250000000*sj0*htj1**2 + (px**2*r01 - 2*px*py*r00 - py**2*r01 - 2*py*pz*r02 - 3511*py*r02/10000 + pz**2*r01 + 3511*pz*r01/10000 + 298872727*r01/5000000000)*sj0*htj1 - 7573227*r02/500000000*cj2*htj1**3 + (-3511*px*r01/5000 + 3511*py*r00/5000)*cj2*htj1**2 + 7573227*r02/500000000*cj2*htj1 + (-3511*px*r01/10000 + 3511*py*r00/10000)*sj2*htj1**3 + 7573227*r02/250000000*sj2*htj1**2 + (3511*px*r01/10000 - 3511*py*r00/10000)*sj2*htj1 + 6831/9765625*sj4*htj1**3 + 6831/9765625*sj4*htj1 + (2157*px*r00/25000 + 2157*py*r01/25000 + 2157*pz*r02/25000 - 7573227*r02/500000000)*htj1**3 + (-3511*px*r01/5000 + 3511*py*r00/5000)*htj1**2 + (2157*px*r00/25000 + 2157*py*r01/25000 + 2157*pz*r02/25000 + 7573227*r02/500000000)*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[r00,r01,r02,px,py,pz]')INFO: assuming equation htj1 is non-zero, dividing by Poly(px*cj0*htj1 + py*sj0*htj1 - 2031/25000*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py]')INFO: not unique: (Poly(-px*cj0 - py*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[px,py]'), Poly(-2031/25000, cj3, sj3, cj4, sj4, htj1, domain='QQ'))INFO: assuming equation htj1 is non-zero, dividing by Poly(r00*cj0*htj1 + r01*sj0*htj1 + sj4*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='ZZ[r00,r01]')INFO: not unique: (Poly(-r00*cj0 - r01*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01]'), Poly(sj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ'))INFO: assuming equation htj1 is non-zero, dividing by Poly(r01*cj0*cj2*htj1**3 - r01*cj0*cj2*htj1 - 2*r01*cj0*sj2*htj1**2 - r00*sj0*cj2*htj1**3 + r00*sj0*cj2*htj1 + 2*r00*sj0*sj2*htj1**2 + 2*r02*cj2*htj1**2 + r02*sj2*htj1**3 - r02*sj2*htj1 + cj3*cj4*htj1**3 + cj3*cj4*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='ZZ[r00,r01,r02]')INFO: not unique: (Poly(-r01*cj0*cj2*htj1**2 + r01*cj0*cj2 + 2*r01*cj0*sj2*htj1 + r00*sj0*cj2*htj1**2 - r00*sj0*cj2 - 2*r00*sj0*sj2*htj1 - 2*r02*cj2*htj1 - r02*sj2*htj1**2 + r02*sj2, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01,r02]'), Poly(cj3*cj4*htj1**2 + cj3*cj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ'))INFO: assuming equation htj1 is non-zero, dividing by Poly(2*r01*cj0*cj2*htj1**2 + r01*cj0*sj2*htj1**3 - r01*cj0*sj2*htj1 - 2*r00*sj0*cj2*htj1**2 - r00*sj0*sj2*htj1**3 + r00*sj0*sj2*htj1 - r02*cj2*htj1**3 + r02*cj2*htj1 + 2*r02*sj2*htj1**2 + sj3*cj4*htj1**3 + sj3*cj4*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='ZZ[r00,r01,r02]')INFO: not unique: (Poly(-2*r01*cj0*cj2*htj1 - r01*cj0*sj2*htj1**2 + r01*cj0*sj2 + 2*r00*sj0*cj2*htj1 + r00*sj0*sj2*htj1**2 - r00*sj0*sj2 + r02*cj2*htj1**2 - r02*cj2 - 2*r02*sj2*htj1, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01,r02]'), Poly(sj3*cj4*htj1**2 + sj3*cj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ'))INFO: assuming equation htj1 is non-zero, dividing by Poly(py*cj0*cj2*htj1**3 - py*cj0*cj2*htj1 - 2*py*cj0*sj2*htj1**2 - px*sj0*cj2*htj1**3 + px*sj0*cj2*htj1 + 2*px*sj0*sj2*htj1**2 + 2*pz*cj2*htj1**2 + (pz - 3511/20000)*sj2*htj1**3 + (-pz - 3511/20000)*sj2*htj1 - 2319/50000*sj3*htj1**3 - 2319/50000*sj3*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py,pz]')INFO: not unique: (Poly(-py*cj0*cj2*htj1**2 + py*cj0*cj2 + 2*py*cj0*sj2*htj1 + px*sj0*cj2*htj1**2 - px*sj0*cj2 - 2*px*sj0*sj2*htj1 - 2*pz*cj2*htj1 + (-pz + 3511/20000)*sj2*htj1**2 + (pz + 3511/20000)*sj2, cj0, sj0, cj2, sj2, htj1, domain='QQ[px,py,pz]'), Poly(-2319/50000*sj3*htj1**2 - 2319/50000*sj3, cj3, sj3, cj4, sj4, htj1, domain='QQ'))INFO: assuming equation htj1 is non-zero, dividing by Poly(2*py*cj0*cj2*htj1**2 + py*cj0*sj2*htj1**3 - py*cj0*sj2*htj1 - 2*px*sj0*cj2*htj1**2 - px*sj0*sj2*htj1**3 + px*sj0*sj2*htj1 + (-pz + 3511/20000)*cj2*htj1**3 + (pz + 3511/20000)*cj2*htj1 + 2*pz*sj2*htj1**2 + 2319/50000*cj3*htj1**3 + 2319/50000*cj3*htj1 + 3511/20000*htj1**3 + 3511/20000*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py,pz]')INFO: not unique: (Poly(-2*py*cj0*cj2*htj1 - py*cj0*sj2*htj1**2 + py*cj0*sj2 + 2*px*sj0*cj2*htj1 + px*sj0*sj2*htj1**2 - px*sj0*sj2 + (pz - 3511/20000)*cj2*htj1**2 + (-pz - 3511/20000)*cj2 - 2*pz*sj2*htj1, cj0, sj0, cj2, sj2, htj1, domain='QQ[px,py,pz]'), Poly(2319/50000*cj3*htj1**2 + 2319/50000*cj3 + 3511/20000*htj1**2 + 3511/20000, cj3, sj3, cj4, sj4, htj1, domain='QQ'))INFO: not unique: [Poly(-r00*cj0 - r01*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01]'), Poly(sj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ')]INFO: assuming equation htj1 is non-zero, dividing by Poly(r00*cj0*htj1 + r01*sj0*htj1 + sj4*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='ZZ[r00,r01]')INFO: not unique: (Poly(-r00*cj0 - r01*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[r00,r01]'), Poly(sj4, cj3, sj3, cj4, sj4, htj1, domain='ZZ'))INFO: not unique: [Poly(-px*cj0 - py*sj0, cj0, sj0, cj2, sj2, htj1, domain='QQ[px,py]'), Poly(-2031/25000, cj3, sj3, cj4, sj4, htj1, domain='QQ')]INFO: assuming equation htj1 is non-zero, dividing by Poly(px*cj0*htj1 + py*sj0*htj1 - 2031/25000*htj1, cj0, sj0, cj2, sj2, cj3, sj3, cj4, sj4, htj1, domain='QQ[px,py]')INFO: not unique: (Poly(-px*cj0 - py*sj0, cj0, sj0, cj2, sj2, htj1, domain='ZZ[px,py]'), Poly(-2031/25000, cj3, sj3, cj4, sj4, htj1, domain='QQ'))WARNING: CannotSolveError: reduced equations are zeroINFO: attempting kohli/osvatic general ik methodINFO: solving for all pairwise variables in (cj0, sj0, cj1, sj1), number of symbol coeffs are 15INFO: solving for all pairwise variables in (cj0, sj0, cj1, sj1), number of symbol coeffs are 22WARNING: CannotSolveError: KohliOsvatic method: could not reduce the equationsINFO: attempting kohli/osvatic general ik methodWARNING: CannotSolveError: need 8 or less equations of one variable, currently have 12Traceback (most recent call last): File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 9521, in chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2281, in generateIkSolver chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2803, in solveFullIK_TranslationDirection5D raise self.CannotSolveError('raghavan roth equations too complex')__main__.CannotSolveError: CannotSolveError: raghavan roth equations too complexPls see the urdf file in the innfox.urdf <http://openrave-users-list.185357.n3.nabble.com/file/t496517/innfox.urdf> attachmentBRThx. -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: Coline F. <col...@gm...> - 2020-04-20 09:09:39
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Hi there,
I have a problem using IKFast with my robot, which is "non standard",
meaning that I have a kinematic chain in which revolute joints have origins
that are for example rpy="0.073243 0.047486 -0.57422" (in my URDF file),
and the rotation axis of the joints is always along z.
I understand there is a problem with the "rpy" part, as when I try running
a Translation3D on my manipulator (which consists in 3 revolute joints) I
get an error ("SolveAllEquations failed to find a variable to solve")
whereas if I make the "rpy" part of the joints origin "1.57 0.0 0.0" (for
example) it works fine and I don't get any error. But obviously I need my
joints origins to be as defined in my URDF.
Could somebody help me solve this issue ? Is there any way IKFast could
work with non standard revolute joints ?
Best regards,
Coline
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From: Kenzi <ken...@gm...> - 2020-03-08 23:08:09
|
Hello there,
So I managed to install openrave, and could run it in Ubuntu 19.04.
But I had trouble invoking the GUI when I tried to run an example.
$ openrave.py --example graspplanning
And I got the following error:
[plugindatabase.h:645 Create] Failed to create name ivmodelloader,
interface module
This is the only error I got, and everything else worked fine for me.
I tried to google for solutions, but got no luck. Still stuck with this
error.
Does anyone know how to fix this? Thanks a lot!
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From: mustang66ytz <joh...@gm...> - 2020-02-27 09:32:42
|
Hello, I am a new user of OpenRAVE, I found the simplenavigation.py is a very useful script to plan a path for mobile base.However, when I run the example code, the path planned and executed is not collision free. Could I know what should be the correct way to run this example or is there any part needs to be modified? Thanks very much!! -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: robert204 <bin...@ya...> - 2019-12-13 07:20:33
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Hi all, I have generated an IK for a 4DOF arm with two mimic joints. After changing "GetFreeIndices()" into "GetFreeParameters()" in IK files, and also adding "num_joints_ +=2" into the ik plugin file, i can successfully launch the robot in Rviz. However, the robot can only move in the x,y,z direction without horizontal rotation(red mark), and also when i drag the green/blue rotation mark, it rotates in a shifting center other than in the TCP. Any advice from you would be extremely appreciated. <http://openrave-users-list.185357.n3.nabble.com/file/t496506/00.png> I am on ubuntu 16.04, and install openrave(0.25.0) with Master branch (generate IK by iktype=transform6d). Reference following link to install openrave: https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html Thanks Robert. -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: robert204 <bin...@ya...> - 2019-12-13 07:02:27
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Hi all, I have generated an IK for a 4dof arm (with two mimic joints). After changing " GetFreeIndices()" into " GetFreeParameters()" in the ik file, and also add "num_joints_ +=2" into ikfast plugin file, i can successfully launch the robot in rviz. However, when i drag the interactive mark, the robot can only move in the x,y,z direction, but without rotation (red mark in fig.01). When i drag the green/blue rotation mark, the rotate center even shift(show as in fig.02 and fig.03), it dose not fix at the tool center at all. Any advice on improving it would be extremely helpful. <http://openrave-users-list.185357.n3.nabble.com/file/t496506/01.png> <http://openrave-users-list.185357.n3.nabble.com/file/t496506/02.png> <http://openrave-users-list.185357.n3.nabble.com/file/t496506/03.png> I'm on Ubuntu 16.04 system, and have installed openrave 0.25.0 with the Master branch. Reference on following install tutorial: https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html Thanks, Robert -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: shambhavikuthe <kut...@gm...> - 2019-10-17 13:22:10
|
I am trying to generate IKFast cpp code for 6dof manipulator attached below. But it is taking way too long and the system hangs at a particular step. The step is: INFO: CannotSolveError: SolvePairVariablesHalfAngle: failed to solve dialytically with 1 equations INFO: depth=0 c=15, [] [j1]: cases=None INFO: CannotSolveError: SolveAllEquations failed to find a variable to solve INFO: try to solve first two variables pairwise INFO: reducing 3 equations WARNING: equation way too complex (37474749), looking for another solution WARNING: equation way too complex (37474747), looking for another solution INFO: hassinglevariable, trying with raw equations Link info : name index parents ----------------------------------------------- bot 0 shoulder_yaw_motor 1 bot shoulder_bracket 2 shoulder_yaw_motor shoulder_pitch_motor 3 shoulder_bracket biscep 4 shoulder_pitch_motor elbow_bracket 5 biscep elbow_motor 6 elbow_bracket forearm 7 elbow_motor wrist_bracket 8 forearm wrist_pitch_motor 9 wrist_bracket square_plate_1 10 wrist_pitch_motor AXB2B_SQ_Y 11 square_plate_1 wrist_yaw_motor 12 AXB2B_SQ_Y AXBrak_Y_R 13 wrist_yaw_motor wrist_roll_motor 14 AXBrak_Y_R roll_j_plate 15 wrist_roll_motor gripper 16 roll_j_plate ----------------------------------------------- name index parents i'm trying the following command : python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot= mobile_manipulator.dae --iktype=transform6d --baselink=1 --eelink=16 --savefile="$IKFAST_OUTPUT_PATH" Please give me some insight regarding the problem. mobile_manipulator.urdf <http://openrave-users-list.185357.n3.nabble.com/file/t496503/mobile_manipulator.urdf> mobile_manipulator.xacro <http://openrave-users-list.185357.n3.nabble.com/file/t496503/mobile_manipulator.xacro> -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: myavari <my...@sf...> - 2018-02-13 20:27:24
|
Hi I need to run CBiRRT for a serial link robot with 4 arms and 4 rev joints. I am able to do so with final configurations but if set a TSR for goal sampling it fails with this error: Unable to find a goal IK solution in 5 seconds. I have attached the robot description XML and the script file. Is it correct to use TranslationXAxis4D in this case? I tried TranslationXY2D as well. but it forces the end-effector to be horizontal (zero angle) at goal configuration. Any help is very appreciated and this is kind of URGENT. Thanks, myscript.py <http://openrave-users-list.185357.n3.nabble.com/file/t496457/myscript.py> env.xml <http://openrave-users-list.185357.n3.nabble.com/file/t496457/env.xml> 4linkserial.xml <http://openrave-users-list.185357.n3.nabble.com/file/t496457/4linkserial.xml> -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: myavari <my...@sf...> - 2018-01-29 22:12:20
|
Hi there,
I need to run some experiments with CBiRRT algorithm. However I get this
error when I try running /comps/example/example_reaching.m :
"Invalid MEX-file '/home/--/openrave/octave_matlab/orcreate.mexa64':
Missing symbol
'_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE10_M_replaceEmmPKcm'
required by
'/home/--/openrave/octave_matlab/orcreate.mexa64'
Missing symbol
'_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE6resizeEmc' required
by
'/home/--/openrave/octave_matlab/orcreate.mexa64'
Missing symbol
'_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE9_M_assignERKS4_'
required by
'/home/--/openrave/octave_matlab/orcreate.mexa64'
Missing symbol
'_ZStrsIcSt11char_traitsIcESaIcEERSt13basic_istreamIT_T0_ES7_RNSt7__cxx1112basic_stringIS4_S5_T1_EE'
required by
'/home/--/openrave/octave_matlab/orcreate.mexa64'.
Error in orCommunicator
Error in orEnvLoadScene (line 16)
orCommunicator(['loadscene ' filename ' ' num2str(ClearScene)],1);
Error in example_reaching (line 35)
orEnvLoadScene('../../ormodels/environments/intelkitchen_robotized_herb2.env.xml',1);"
I installed openrave by following the steps here:
https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html
Installed COMPS from here:
https://sourceforge.net/p/comps/wiki/Installation/
ran mex commands:
mex orcreate.cpp
mex orwrite.cpp
mex orread.cpp
started openrave:
openrave --server textserver --serverport 4765
and then tried to run the comps matlab example.
I really appreciate any solution or hints. I just need to run some
experiments with CBiRRT
Thanks a lot
--
Sent from: http://openrave-users-list.185357.n3.nabble.com/
|
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From: myavari <my...@sf...> - 2018-01-29 22:07:20
|
I have the same problem. Did you find any solution? Thanks -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: rsantos88 <ras...@it...> - 2018-01-12 12:26:57
|
I'm trying to run the ortrajectory example <http://http://openrave.org/docs/latest_stable/coreapihtml/ortrajectory_8cpp-example.html> but it crash with this error... Any idea for this error?? -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: Eric U. <eri...@gm...> - 2017-12-21 11:15:11
|
Dear All,
I'm trying to use a sort of scara type robot with ikfast. The robot is a
serial robot as following :
z translation
z rotation
z rotation
z rotation
The geometry is composed with the following links :
name index parents
-------------------------
base 0
platform 1 base
biceps 2 platform
elbowLink 3 biceps
forearm 4 elbowLink
wristLink 5 forearm
midarm 6 wristLink
gripper 7 midarm
-------------------------
and the following joints :
name joint_index dof_index parent_link child_link mimic
----------------------------------------------------------------
vertical 0 0 base platform
shoulder 1 1 platform biceps
elbow 2 2 biceps elbowLink
wrist 3 3 forearm wristLink
forearmElbow -1 -1 elbowLink forearm
midarmWrist -1 -1 wristLink midarm
gripperMidarm -1 -1 midarm gripper
----------------------------------------------------------------
When I use the robot in rviz with my custom-made urdf it works fine, but i
want to improve the performances. Therefore i convert it to collada file
with ros.
At this point I use the command :
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py
--robot=robot.xml --iktype=translationzaxisangle4d --savefile=robotik.cpp
--baselink=0 --eelink=7
Which generates the following errors :
DEBUG: rotation angle of Links[0]: 0.000000,
axis=[0.000000,0.000000,0.000000]
DEBUG: rotation angle of Links[2]: 0.000000,
axis=[0.000000,0.000000,0.000000]
DEBUG: rotation angle of Links[4]: 44.977187,
axis=[0.000000,0.000000,-1.000000]
DEBUG: rotation angle: 44.977187, axis=[0.000000,0.000000,-1.000000]
DEBUG: rotation angle of Links[6]: 0.000000,
axis=[0.000000,0.000000,0.000000]
INFO: moved translation [0, 0, 0] to right end
INFO: moved translation [7/200, -7/200, 0] to left end
INFO: moved translation on intersecting axis [0, 0, 0] to left
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 1/10]]
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, j0]]
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[141478*40000087709**(1/2)/40000087709,
141365*40000087709**(1/2)/40000087709, 0,
17331013/100000000],[-141365*40000087709**(1/2)/40000087709,
141478*40000087709**(1/2)/40000087709, 0, -20000000/115491999],[0, 0, 1, 0]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 49/200],[0, 1, 0, 0],[0, 0, 1, 0]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 3/20],[0, 1, 0, 0],[0, 0, 1, 0]]
INFO: ikfast translation axis 4d, globaldir=[0]
[0]
[1], basedir=[1]
[0]
[0]: [j0, j1, j2, j3]
INFO: depth=0 c=1, [] [j0, j1, j2, j3]: cases=None
INFO: depth=0 c=3, [j0] [j1, j2, j3]: cases=None
DEBUG: adding extra equation multiplied by htj2
DEBUG: adding extra equation multiplied by htj3
WARNING: solveDialytically equations 16 > 12, should be equal...
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
DEBUG: solveDialytically errors: CannotSolveError: equations are not
linearly independent
DEBUG: adding extra equation multiplied by htj3
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
DEBUG: solveDialytically errors: CannotSolveError: equations are not
linearly independent
DEBUG: solveDialytically errors: CannotSolveError: solveDialytically: more
unknowns than equations 12>8
DEBUG: solveDialytically errors: CannotSolveError: solveDialytically: more
unknowns than equations 12>6
DEBUG: solveDialytically errors: CannotSolveError: solveDialytically: more
unknowns than equations 12>4
DEBUG: solveDialytically errors: CannotSolveError: solveDialytically: more
unknowns than equations 12>2
Traceback (most recent call last):
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py",
line 9521, in <module>
chaintree =
solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py",
line 2281, in generateIkSolver
chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py",
line 3540, in solveFullIK_TranslationAxisAngle4D
raise self.CannotSolveError('failed to solveDialytically')
__main__.CannotSolveError: CannotSolveError: failed to solveDialytically
I don't understand why it's not working. Basically I should be able to give
a 3d position + yaw angle as a target to the end effector, but the script
fails.
If I run the translation3d as iktype it works, but then I have to define a
free joint, and I cannot constraint the end effector to follow a certain
yaw angle.
I've also tried creating a manipulator xml file as following :
<robot name="robot" file="collada/robot.dae">
<Manipulator name="robotManip">
<base>base</base>
<effector>gripper</effector>
<direction>0 0 1</direction>
</Manipulator>
</robot>
and then use the command
openrave.py --database inversekinematics --robot=manipulator.xml
--iktype=translationyaxisangle4d
but this also fails with the same error, and a bunch of warnings in the
beginning.
Am I using the wrong ik method ? I've tried with all other 4D ones, but
they all fail. Does any one have a clue ?
Best,
Eric
(I'm using ros kinetic with ubuntu 16.04)
|
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From: grimes <mat...@re...> - 2017-11-03 10:44:10
|
Hello to all, I'm trying to generate a /transform6d ik solver for a UR5 arm. I read all the related topics about this robot arm, but I still have some issues. I'm fully confidential with 3D software such as Blender, FreeCAD, Meshlab, etc; but what I want to do is to be able to create simple .xml robot kinbody and then generate ik solvers with ikfast. I started from the *kuka-kr5-r650* xml kinbody (from which is created a /transform6d .cpp ik solver of about 1k lines, in about 2 minutes and without using *lapack* functions), and I created the following kinbody: > <?xml version="1.0" encoding="utf-8"?> > <Robot name="UR5"> > > <KinBody name="UR5KB"> > > <Body name="base" type="dynamic"> > > <Translation> > 0 0 0 > </Translation> > > </Body> > > <Body name="link1" type="dynamic"> > > <offsetfrom> > base > </offsetfrom> > > <Translation> > -0.073402 0 0 > </Translation> > > </Body> > > <Joint name="j0" type="hinge"> > > <Body> > base > </Body> > > <Body> > link1 > </Body> > > <offsetfrom> > link1 > </offsetfrom> > > <axis> > -1 0 0 > </axis> > > <limitsdeg> > -363 363 > </limitsdeg> > > <resolution> > 1 > </resolution> > > <maxveldeg> > 180 > </maxveldeg> > > <maxtorque> > 150 > </maxtorque> > > </Joint> > > <Body name="link2" type="dynamic"> > > <offsetfrom> > link1 > </offsetfrom> > > <Translation> > 0 0.114273 0 > </Translation> > > > </Body> > > <Joint name="j1" type="hinge"> > > <Body> > link1 > </Body> > > <Body> > link2 > </Body> > > <offsetfrom> > link2 > </offsetfrom> > > <axis> > 0 1 0 > </axis> > > <limitsdeg> > -363 363 > </limitsdeg> > > <resolution> > 1 > </resolution> > > <maxveldeg> > 180 > </maxveldeg> > > <maxtorque> > 150 > </maxtorque> > > </Joint> > > <Body name="link3" type="dynamic"> > > <offsetfrom> > link2 > </offsetfrom> > > <Translation> > -0.361900 -0.101287 0 > </Translation> > > > </Body> > > <Joint name="j2" type="hinge"> > > <Body> > link2 > </Body> > > <Body> > link3 > </Body> > > <offsetfrom> > link3 > </offsetfrom> > > <axis> > 0 -1 0 > </axis> > > <limitsdeg> > -363 363 > </limitsdeg> > > <resolution> > 1 > </resolution> > > <maxveldeg> > 180 > </maxveldeg> > > <maxtorque> > 150 > </maxtorque> > > </Joint> > > <Body name="link4" type="dynamic"> > > <offsetfrom> > link3 > </offsetfrom> > > <Translation> > -0.334014 0.080684 0 > </Translation> > > </Body> > > <Joint name="j3" type="hinge"> > > <Body> > link3 > </Body> > > <Body> > link4 > </Body> > > <offsetfrom> > link4 > </offsetfrom> > > <axis> > 0 -1 0 > </axis> > > <limitsdeg> > -363 363 > </limitsdeg> > > <resolution> > 1 > </resolution> > > <maxveldeg> > 180 > </maxveldeg> > > <maxtorque> > 28 > </maxtorque> > > </Joint> > > <Body name="link5" type="dynamic"> > > <offsetfrom> > link4 > </offsetfrom> > > <Translation> > -0.080688 0 0 > </Translation> > > </Body> > > <Joint name="j4" type="hinge"> > > <Body> > link4 > </Body> > > <Body> > link5 > </Body> > > <offsetfrom> > link5 > </offsetfrom> > > <axis> > 0 0 1 > </axis> > > <limitsdeg> > -363 363 > </limitsdeg> > > <resolution> > 1 > </resolution> > > <maxveldeg> > 180 > </maxveldeg> > > <maxtorque> > 28 > </maxtorque> > > </Joint> > > <Body name="link6" type="dynamic"> > > <offsetfrom> > link5 > </offsetfrom> > > <Translation> > 0 0.041095 0 > </Translation> > > </Body> > > <Joint name="j5" type="hinge"> > > <Body> > link5 > </Body> > > <Body> > link6 > </Body> > > <offsetfrom> > link6 > </offsetfrom> > > <axis> > 0 -1 0 > </axis> > > <limitsdeg> > -363 363 > </limitsdeg> > > <resolution> > 1 > </resolution> > > <maxveldeg> > 180 > </maxveldeg> > > <maxtorque> > 28 > </maxtorque> > > </Joint> > > </KinBody> > > <Manipulator name="arm"> > > <base> > base > </base> > > <effector> > link6 > </effector> > > <translation> > 0 0.028305 0 > </translation> > > </Manipulator> > </Robot> Running the following command (which is the same I used for the *kuka-kr5-r650*): > python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py > --robot=UR5_v1.xml --iktype=transform6d --baselink=0 --eelink=6 > --savefile=UR5_v1.cpp after about 20 minutes i get an ik solver of about 150k lines which requires *lapack* functions. I took the parameters from the Universal Robot manual and I tried to play with the /resolution parameter and also cutting the decimals of the floating point values as said by Rosen. It looks quite strange to me because the two robots kinematics look really similar and also because from the UR-6-85-5A-inverse-kinematics <http://openrave-users-list.185357.n3.nabble.com/UR-6-85-5A-inverse-kinematics-tt3588498.html#a3687240> post I noticed was created a .cpp solver of 5k lines, without lapack which I tested and works. There is something I'm missing or I'm doing wrong? I can upload also the Kuka xml file or others if needed. Thank you for your time, regards. Matteo -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: Francisco S. <fsu...@gm...> - 2017-09-06 01:18:49
|
I think you have run into this bug/issue: https://github.com/rdiankov/openrave/issues/435 To make sure, try these two commands: 1. python -c "import openravepy as orpy; env = orpy.Environment(); env.Load('data/lab1.env.xml'); env.SetDefaultViewer(); raw_input('Press enter to exit...')" 2. python -c "import openravepy as orpy; env = orpy.Environment(); env.SetDefaultViewer(); env.Load('data/lab1.env.xml'); raw_input('Press enter to exit...')" *The second command should fail. The workaround for this bug it to *always *load the environment (env.Load) *before* starting the viewer. On Tue, Sep 5, 2017 at 7:06 PM, rsantos88 <ras...@it...> wrote: > I've noticed something. If I try to open the model directly with command > line, e.g: *openrave.py > /home/teo/repos/openrave/src/robots/pr2-beta-static.zae* > there is not problem and any crash. You can see the 3D view perfectly: > > <http://openrave-users-list.185357.n3.nabble.com/file/ > t496445/Screenshot_from_2017-09-05_12-58-11.png> > > But if I try to open the file after opening openrave (file>Load > Environment...) it crush with the famous error: > *[colladareader.cpp:2021 KinBody::LinkPtr > OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000* > and this is the horrible aspect of pr2... > <http://openrave-users-list.185357.n3.nabble.com/file/ > t496445/Screenshot_from_2017-09-05_13-02-12.png> > I think this error can by the the guilty of my problems when I try to run > the examples.. > Any idea?? > > > > > -- > Sent from: http://openrave-users-list.185357.n3.nabble.com/ > > ------------------------------------------------------------ > ------------------ > Check out the vibrant tech community on one of the world's most > engaging tech sites, Slashdot.org! http://sdm.link/slashdot > _______________________________________________ > Openrave-users mailing list > Ope...@li... > https://lists.sourceforge.net/lists/listinfo/openrave-users > |
|
From: rsantos88 <ras...@it...> - 2017-09-05 11:11:10
|
I've noticed something. If I try to open the model directly with command line, e.g: *openrave.py /home/teo/repos/openrave/src/robots/pr2-beta-static.zae* there is not problem and any crash. You can see the 3D view perfectly: <http://openrave-users-list.185357.n3.nabble.com/file/t496445/Screenshot_from_2017-09-05_12-58-11.png> But if I try to open the file after opening openrave (file>Load Environment...) it crush with the famous error: *[colladareader.cpp:2021 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000* and this is the horrible aspect of pr2... <http://openrave-users-list.185357.n3.nabble.com/file/t496445/Screenshot_from_2017-09-05_13-02-12.png> I think this error can by the the guilty of my problems when I try to run the examples.. Any idea?? -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: rsantos88 <ras...@it...> - 2017-09-05 11:06:13
|
I've noticed something. If I try to open the model directly with command line, e.g: *openrave.py /home/teo/repos/openrave/src/robots/pr2-beta-static.zae* there is not problem and any crash. You can see the 3D view perfectly: <http://openrave-users-list.185357.n3.nabble.com/file/t496445/Screenshot_from_2017-09-05_12-58-11.png> But if I try to open the file after opening openrave (file>Load Environment...) it crush with the famous error: *[colladareader.cpp:2021 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000* and this is the horrible aspect of pr2... <http://openrave-users-list.185357.n3.nabble.com/file/t496445/Screenshot_from_2017-09-05_13-02-12.png> I think this error can by the the guilty of my problems when I try to run the examples.. Any idea?? -- Sent from: http://openrave-users-list.185357.n3.nabble.com/ |
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From: rsantos88 <ras...@it...> - 2017-09-04 11:45:37
|
I've followed all the steps but it doesn't work...
2017-09-04 13:23:19,575 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,576 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,576 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,578 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,579 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,579 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,582 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,583 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,583 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,586 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,588 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,588 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,593 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,593 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,594 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,595 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,595 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,595 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,596 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,596 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,597 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,597 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,597 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,598 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,598 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,598 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,598 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,599 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,599 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,599 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,600 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,600 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,600 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,610 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,611 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,623 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,623 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,624 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,624 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,625 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,625 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,629 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,629 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,630 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,630 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,630 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,632 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,632 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,632 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,633 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,633 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,644 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,644 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,658 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,658 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,659 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,659 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,660 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,661 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,665 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,665 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,666 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,666 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,669 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,670 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,670 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,670 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,671 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,671 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,672 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,672 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,911 openrave [WARN] [kinbody.cpp:1535
KinBody::SetDOFValues] dof 18 value is not in limits
0.000000e+00<-1.396263e-01
2017-09-04 13:23:19,911 openrave [WARN] [kinbody.cpp:1535
KinBody::SetDOFValues] dof 20 value is not in limits
0.000000e+00<-8.726646e-02
2017-09-04 13:23:19,911 openrave [WARN] [kinbody.cpp:1535
KinBody::SetDOFValues] dof 30 value is not in limits
0.000000e+00<-1.396263e-01
2017-09-04 13:23:19,911 openrave [WARN] [kinbody.cpp:1535
KinBody::SetDOFValues] dof 32 value is not in limits
0.000000e+00<-8.726646e-02
2017-09-04 13:23:19,925 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_footprint with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/head_plate_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/double_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries
(env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries
(env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env
1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env
1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/high_def_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,956 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,956 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,966 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,966 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,966 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,966 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,973 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,973 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,974 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,982 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,983 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,992 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,992 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,992 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,993 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,999 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,999 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_bellow_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,999 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_laser_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,999 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_footprint with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/head_plate_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/double_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries
(env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries
(env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env
1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env
1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/high_def_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,030 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,030 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,041 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,042 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,042 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,042 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,049 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,049 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,050 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,060 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,060 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,069 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,069 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,069 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,069 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_bellow_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_laser_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
osgDB::ReaderWriterIV::readNode() Reading file
/usr/local/share/openrave-0.9/models/objects/plastic_mug2p.iv
osgDB::ReaderWriterIV::readNode() File
/usr/local/share/openrave-0.9/models/objects/plastic_mug2p.iv loaded
successfully.
Traceback (most recent call last):
File "/usr/local/bin/openrave.py", line 149, in <module>
example.run(args=args)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/openravepy_ext.py",
line 64, in newfn
return fn(*args,**kwargs)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/tutorial_inversereachability.py",
line 512, in run
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py",
line 240, in parseAndCreateThreadedUser
SetViewerUserThread(env,viewername,lambda: userfn(env,options))
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py",
line 100, in SetViewerUserThread
userfn()
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py",
line 240, in <lambda>
SetViewerUserThread(env,viewername,lambda: userfn(env,options))
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/tutorial_inversereachability.py",
line 491, in main
gr = InverseReachabilityDemo(robot)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/tutorial_inversereachability.py",
line 346, in __init__
self.irmodel =
databases.inversereachability.InverseReachabilityModel(robot=self.robot)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversereachability.py",
line 81, in __init__
self.rmodel = kinematicreachability.ReachabilityModel(robot=robot)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/kinematicreachability.py",
line 120, in __init__
self.ikmodel =
inversekinematics.InverseKinematicsModel(robot=robot,iktype=IkParameterization.Type.Transform6D)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py",
line 241, in __init__
raise InverseKinematicsError(u'link %s part of IK chain cannot be
declared static'%link)
openravepy._openravepy_0_9.databases.inversekinematics.InverseKinematicsError:
Inverse Kinematics Error
link <link:torso_lift_link (14), parent=pr2> part of IK chain cannot be
declared static
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 6
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 5
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 4
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 3
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 2
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 1
destroyed
Why? how can I fix it?
--
Sent from: http://openrave-users-list.185357.n3.nabble.com/
|
|
From: rsantos88 <ras...@it...> - 2017-09-04 11:45:37
|
I've followed all the steps but it doesn't work...
2017-09-04 13:23:19,575 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,576 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,576 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,578 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,579 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,579 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,582 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,583 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,583 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,586 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,588 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,588 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,593 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,593 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,594 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,595 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,595 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,595 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,596 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,596 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,597 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,597 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,597 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,598 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,598 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,598 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,598 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,599 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,599 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,599 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,600 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,600 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,600 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,610 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,611 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,623 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,623 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,624 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,624 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,625 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,625 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,629 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,629 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,630 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,630 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,630 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,631 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,632 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,632 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,632 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,633 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,633 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,644 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,644 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,658 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,658 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,659 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,659 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,660 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,661 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,665 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,665 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,666 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,666 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,667 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,668 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,669 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,670 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,670 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,670 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,671 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,671 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,672 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,672 openrave [WARN] [colladareader.cpp:2015
KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution
0.000000
2017-09-04 13:23:19,911 openrave [WARN] [kinbody.cpp:1535
KinBody::SetDOFValues] dof 18 value is not in limits
0.000000e+00<-1.396263e-01
2017-09-04 13:23:19,911 openrave [WARN] [kinbody.cpp:1535
KinBody::SetDOFValues] dof 20 value is not in limits
0.000000e+00<-8.726646e-02
2017-09-04 13:23:19,911 openrave [WARN] [kinbody.cpp:1535
KinBody::SetDOFValues] dof 30 value is not in limits
0.000000e+00<-1.396263e-01
2017-09-04 13:23:19,911 openrave [WARN] [kinbody.cpp:1535
KinBody::SetDOFValues] dof 32 value is not in limits
0.000000e+00<-8.726646e-02
2017-09-04 13:23:19,925 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_footprint with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/head_plate_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/double_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries
(env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries
(env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env
1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env
1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/high_def_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,946 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,956 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,956 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,966 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,966 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,966 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,966 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,973 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,973 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,974 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,982 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,983 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,992 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,992 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,992 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,993 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,998 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,999 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,999 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_bellow_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,999 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_laser_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:19,999 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_footprint with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/head_plate_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/double_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries
(env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries
(env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,022 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env
1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env
1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/high_def_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,023 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,030 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,030 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,041 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,042 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,042 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,042 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,049 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,049 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,050 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,060 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,060 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,069 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,069 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,069 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,069 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1)
(userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_bellow_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
2017-09-04 13:23:20,076 openrave [WARN] [fclspace.h:248
FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link
pr2/base_laser_link with 0 geometries (env 1) (userdatakey
fclcollision0x26c4b80)
osgDB::ReaderWriterIV::readNode() Reading file
/usr/local/share/openrave-0.9/models/objects/plastic_mug2p.iv
osgDB::ReaderWriterIV::readNode() File
/usr/local/share/openrave-0.9/models/objects/plastic_mug2p.iv loaded
successfully.
Traceback (most recent call last):
File "/usr/local/bin/openrave.py", line 149, in <module>
example.run(args=args)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/openravepy_ext.py",
line 64, in newfn
return fn(*args,**kwargs)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/tutorial_inversereachability.py",
line 512, in run
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py",
line 240, in parseAndCreateThreadedUser
SetViewerUserThread(env,viewername,lambda: userfn(env,options))
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py",
line 100, in SetViewerUserThread
userfn()
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py",
line 240, in <lambda>
SetViewerUserThread(env,viewername,lambda: userfn(env,options))
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/tutorial_inversereachability.py",
line 491, in main
gr = InverseReachabilityDemo(robot)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/tutorial_inversereachability.py",
line 346, in __init__
self.irmodel =
databases.inversereachability.InverseReachabilityModel(robot=self.robot)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversereachability.py",
line 81, in __init__
self.rmodel = kinematicreachability.ReachabilityModel(robot=robot)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/kinematicreachability.py",
line 120, in __init__
self.ikmodel =
inversekinematics.InverseKinematicsModel(robot=robot,iktype=IkParameterization.Type.Transform6D)
File
"/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py",
line 241, in __init__
raise InverseKinematicsError(u'link %s part of IK chain cannot be
declared static'%link)
openravepy._openravepy_0_9.databases.inversekinematics.InverseKinematicsError:
Inverse Kinematics Error
link <link:torso_lift_link (14), parent=pr2> part of IK chain cannot be
declared static
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 6
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 5
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 4
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 3
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 2
destroyed
QThreadStorage: Thread 0x7f330400ca10 exited after QThreadStorage 1
destroyed
Why? how can I fix it?
--
Sent from: http://openrave-users-list.185357.n3.nabble.com/
|
|
From: henryk <hen...@gm...> - 2017-08-25 11:00:57
|
It seems that using the or_urdf <https://github.com/personalrobotics/or_urdf> plugin leads to correct solutions. I will test it further and report here. ===================== Joint angles: -0.560864 2.660140 0.727080 Found fk solution for end frame: Translation: x: 0.028696 y: -0.018025 z: -0.094074 Rotation 0.000000 0.000000 0.000000 Matrix: 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 Euler angles: Yaw: 1.570796 (1st: rotation around vertical blue Z-axis in ROS Rviz) Pitch: 0.000000 Roll: 0.000000 Quaternion: 0.500000 0.500000 0.500000 0.500000 0.500000 + 0.500000i + 0.500000j + 0.500000k (alternate convention) Found 4 ik solutions: sol0 (free=0): -0.560864448547363, -3.091770574916704, -0.727081705369767, sol1 (free=0): 2.580728205042427, -2.660138200483510, -0.727081705369767, sol2 (free=0): -0.560864448547363, 2.660140275955198, 0.727079629898067, sol3 (free=0): 2.580728205042427, 3.091772650388392, 0.727079629898067, ======================== -- View this message in context: http://openrave-users-list.185357.n3.nabble.com/PhantomX-Reactor-problems-with-the-third-joint-tp4027971p4027972.html Sent from the OpenRAVE Users List mailing list archive at Nabble.com. |
|
From: henryk <hen...@gm...> - 2017-08-25 10:02:27
|
Thanks for the amazing solver. For PhantomX Reactor pincher (aka the turtlebot arm) I am getting correct results, but in the case of PhantomX Reactor the solver has problems in computing the third joint. Urdf/Xacro of PhantomX Reactor <https://github.com/RobotnikAutomation/phantomx_reactor_arm> The whole pipeline compiles correctly according to the instructions <http://wiki.ros.org/Industrial/Tutorials/Create_a_Fast_IK_Solution> . However, running ikfastdemo.cpp I am consistently getting 0 on the third joint, like in the following output: =============================== Joint angles: -2.507510 2.056816 -1.128068 Found fk solution for end frame: Translation: x: -0.081801 y: -0.060156 z: 0.217283 Rotation 0.000000 0.000000 0.000000 Matrix: 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 Euler angles: Yaw: 1.570796 (1st: rotation around vertical blue Z-axis in ROS Rviz) Pitch: 0.000000 Roll: 0.000000 Quaternion: 0.500000 0.500000 0.500000 0.500000 0.500000 + 0.500000i + 0.500000j + 0.500000k (alternate convention) Found 2 ik solutions: sol0 (free=0): -2.507510185241699, 2.056815862655639, 0.000000000000000, sol1 (free=0): 0.634082468348094, 0.564002763409552, 0.000000000000000 =============================== I am assuming that there is a problem with the urdf file or maybe in the fact, that in the translation I am not supplying information from the srdf file <https://github.com/RobotnikAutomation/phantomx_reactor_arm/tree/indigo-devel/phantomx_reactor_arm_moveit_config/config> . Can you suggest what should be done in this situation? -- View this message in context: http://openrave-users-list.185357.n3.nabble.com/PhantomX-Reactor-problems-with-the-third-joint-tp4027971.html Sent from the OpenRAVE Users List mailing list archive at Nabble.com. |
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