Open FabianSchuetze opened 3 years ago
I figured that this issue is basically a duplicate of another issue at moveit_task_constructor. Should there maybe be a warning in the readme file of this repo?
That happened to me, too. But I use my 6 dofs arm. gpd works fine, but plan failed. Modify the camera.yaml fix it.
First of all: Thank you for this wonderful repo!
When I run the
gpd_demo
asroslaunch moveit_task_constructor_gpd gpd_demo.launch
with the default settings, the robot unfortunately does not move and the node terminates in error with:[ERROR] [1613054924.196602715]: Planning failed
. This happens after grasps have been generated. The error is thrown by the nodemtc_tutorial
and the the logging location isws_grasp/src/deep_grasp_demo/deep_grasp_task/src/deep_pick_place_task.cpp:DeepPickPlaceTask::plan:445
.I have increased the number of sampled samples (
num_samples=500
) and the number of selected grasps (num_selected =500
) in thegpd_config.yaml
file to make sure that enough grasps are sampled. While the runtime of the node increased dramatically, planning still failed.Does anybody know why the planning might have failed? Is there anything I can do for the program to run well. I am grateful for any hints or suggestions!