Re: [OpenRAVE-users] UR6 trajectory planning
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Re: [OpenRAVE-users] UR6 trajectory planning
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From: Rosen D. <ros...@gm...> - 2012-10-30 06:22:44
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we've set the defaults so planning completes fast, if you want optimal
trajectories there's a million parameters to tweak ;0).
just focusing on the parameters available through the
BaseManipulation.MoveToHandPosition, you could try:
- set minimumgoalpaths to 8+
- set goalsampleprob to 0.5+
- set goalmaxtries to 100+
- set goalsamples to 100+
- set maxiter to 6000+
- set steplength to 0.01 or less
rosen,
2012/10/30 gardiaza <gar...@in...>:
> Dear Rosen, first of all, thanks for all your help, and for openrave! I'm in
> the process of making our universal robots work, and for the application we
> have, we will be continously geting new positions where the robot has to
> move, so I cannot precompute much. I made a small python script, plus an
> environment (from your examples), I'm copying them here: test.py: from
> openravepy import * import numpy, time env = Environment() # create the
> environment env.SetViewer('qtcoin') # start the viewer
> env.Load('ur5.env.xml') # load a scene robot = env.GetRobots()[0] # get the
> first robot robot.SetActiveManipulator('arm') # set the manipulator to arm
> ikmodel =
> databases.inversekinematics.InverseKinematicsModel(robot,iktype=IkParameterization.Type.Transform6D)
> if not ikmodel.load(): ikmodel.autogenerate() manipprob =
> interfaces.BaseManipulation(robot) # create the interface for basic
> manipulation programs Tgoal =
> numpy.array([[0,-1,0,-0.81],[-1,0,0,0.24],[0,0,-1,0.02],[0,0,0,1]]) res =
> manipprob.MoveToHandPosition(matrices=[Tgoal],seedik=1000) # call motion
> planner with goal joint angles robot.WaitForController(0) # wait
> time.sleep(2) Tgoal =
> numpy.array([[1,0,0,-0.81],[0,0,-1,-0.24],[0,-1,0,0.22],[0,0,0,1]]) res =
> manipprob.MoveToHandPosition(matrices=[Tgoal],seedik=1000) # call motion
> planner with goal joint angles robot.WaitForController(0) # wait
> time.sleep(2) Tgoal =
> numpy.array([[0,-1,0,-0.81],[-1,0,0,0],[0,0,-1,0.22],[0,0,0,1]]) res =
> manipprob.MoveToHandPosition(matrices=[Tgoal],seedik=1000) # call motion
> planner with goal joint angles robot.WaitForController(0) # wait
> time.sleep(10) ur5.env.xml: 0.430986 -1.233453 1.412977 -0.946522 -0.231893
> 0.224324 122.297980 0 0 0 0 0 1 -45 0 1.5707 0 0 0 0 <Body type="static"> 0
> 0 0 0.8 0.4 0.005 -0.4 0 0 .0 .6 .0 0.0 0.6 0.0 0.2 0.005 0.8 0.8 0.4 0 0.8
> .0 .6 .0 0.0 0.6 0.0 0.2 </Body> <Body type="static"> 0 0 0 0.055 0.095 0.05
> -0.7 0 0.10 0 0 .6 0 0 .6 0 </Body> There are several things I've noticed: -
> The UR6 model of the robot model is rotated 45 degrees, how can I correct
> that? (and submit a patch?) - The ikmodel.autogenerate() is very slow in
> this robot (8-10 hours) vs the other robots that are quite fast (< 5
> minutes). I know I just need to do it once, but I just want to inform you. -
> The trajectories are sometimes very complex for movements that look quite
> easy (compare the second trajectory with the third one). Is there any way to
> make the planning more efficient there? - I've been playing with the
> "ikseed" parameter, and with some values (usually bigger) I get trajectories
> that are much better behaved (shorter movements). What is the purpose of
> ikseed? I didn't manage to find it. Thanks for your help and suggestions.
> Cheers, Jose
> ________________________________
> View this message in context: UR6 trajectory planning
> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>
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