[OpenRAVE-users] inversekinematics with custom built arm: MemoryError

[Tien T. <ntt...@gm...>]

Hi,

I have a 9DoF arm, without end effector (which will mount in the last
link later), and would like to use ikfast to do the inverse kinematics
for the arm_navigation stack in ROS.

But I have problem when using "openrave.py --database
inversekinematics ": which return

...
openravepy.ikfast: det_bareis, unification failed, trying direct division
Traceback (most recent call last):
  File "/usr/bin/openrave.py", line 126, in <module>
    database.run(args=args)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py",
line 923, in run
    InverseKinematicsModel.RunFromParser(*args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py",
line 895, in RunFromParser
    model = DatabaseGenerator.RunFromParser(Model=Model,parser=parser,robotatts=robotatts,args=args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/__init__.py",
line 248, in RunFromParser
    model.autogenerate(options=options)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py",
line 510, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py",
line 706, in generate
    chaintree =
solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py",
line 1639, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/databases/inversekinematics.py",
line 586, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py",
line 2162, in solveFullIK_6D
    tree = self.solveFullIK_6DGeneral(T0links, T1links,
solvejointvars, endbranchtree)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py",
line 2375, in solveFullIK_6DGeneral
    coupledsolutions,usedvars =
solvemethod(rawpolyeqs,solvejointvars,endbranchtree=endbranchtree)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py",
line 3146, in solveManochaCanny
    PolyEquations, raghavansolutiontree = self.reduceBothSides(rawpolyeqs)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py",
line 2816, in reduceBothSides
    reducedeqs2 = _computereducedequations()
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py",
line 3100, in _computereducedequations
    det = self.det_bareis(M[:,:-1], *detvars)
  File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_8/ikfast.py",
line 6015, in det_bareis
    D,r = div(Poly(D,*vars),M[k-1, k-1])
  File "/usr/lib/python2.7/dist-packages/sympy/polys/polytools.py",
line 98, in __new__
    return cls._from_expr(rep, opt)
  File "/usr/lib/python2.7/dist-packages/sympy/polys/polytools.py",
line 209, in _from_expr
    return cls._from_dict(rep, opt)
  File "/usr/lib/python2.7/dist-packages/sympy/polys/polytools.py",
line 151, in _from_dict
    domain, rep = construct_domain(rep, opt=opt)
  File "/usr/lib/python2.7/dist-packages/sympy/polys/constructor.py",
line 217, in construct_domain
    result = _construct_composite(coeffs, opt)
  File "/usr/lib/python2.7/dist-packages/sympy/polys/constructor.py",
line 109, in _construct_composite
    polys, gens = parallel_dict_from_basic(numers + denoms) # XXX: sorting
  File "/usr/lib/python2.7/dist-packages/sympy/polys/polyutils.py",
line 260, in parallel_dict_from_expr
    reps, opt = _parallel_dict_from_expr(exprs, build_options(args))
  File "/usr/lib/python2.7/dist-packages/sympy/polys/polyutils.py",
line 266, in _parallel_dict_from_expr
    exprs = [ expr.expand() for expr in exprs ]
  File "/usr/lib/python2.7/dist-packages/sympy/core/expr.py", line
1884, in expand
    expr = func(deep=deep, **hints)
  File "/usr/lib/python2.7/dist-packages/sympy/core/add.py", line 471,
in _eval_expand_multinomial
    newterm = term._eval_expand_multinomial(deep=deep, **hints)
  File "/usr/lib/python2.7/dist-packages/sympy/core/mul.py", line 603,
in _eval_expand_multinomial
    newterm = term._eval_expand_multinomial(deep=deep, **hints)
  File "/usr/lib/python2.7/dist-packages/sympy/core/power.py", line
447, in _eval_expand_multinomial
    expansion_dict = multinomial_coefficients(len(p), n)
  File "/usr/lib/python2.7/dist-packages/sympy/ntheory/multinomial.py",
line 73, in multinomial_coefficients
    d[tt] = cc
MemoryError

I've tried with several -iktype without success

Here I attach the dae file (around 9Mb) http://filecloud.io/2y10hp7d

Any help is welcomed.

-- 
Tien Thanh Nguyen