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PilzDE / pilz_industrial_motion

Industrial trajectory generation for MoveIt!.
https://wiki.ros.org/pilz_industrial_motion
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Blend acceptance test fails #69

Closed martiniil closed 5 years ago

martiniil commented 5 years ago

Commit

0e3b55f5272c7609b3822a937915dafcb5ac7070

Steps to reproduce

See acceptance_test_blending.md

Observed behavior

Execution of Sequence command in _testOriChangeInABC fails

Log

[ INFO] [WallTime: 1548917606.467170833 /home/imartini/ros/src/pilz_industrial_motion/pilz_trajectory_generation/src/trajectory_generator_lin.cpp 49]: Starting generation of LIN Trajectory! [ERROR] [WallTime: 1548917606.471181951 /home/imartini/ros/src/pilz_industrial_motion/pilz_trajectory_generation/src/trajectory_functions.cpp 161]: Joint velocity limit of prbt_joint_2 violated. Set the velocity scaling factor lower! Actual joint velocity is 19.1965, while the limit is 1.57. [ERROR] [WallTime: 1548917606.471207706 /home/imartini/ros/src/pilz_industrial_motion/pilz_trajectory_generation/src/trajectory_functions.cpp 272]: Inverse kinematics solution at 3.5s violates the joint velocity/acceleration/deceleration limits.

[INFO] [WallTime: 1548917606.413450 /home/imartini/ros/src/pilz_industrial_motion/pilz_robot_programming/src/pilz_robot_programming/robot.py 208]: Move: Sequence [ERROR] [WallTime: 1548917606.478616 /home/imartini/ros/src/pilz_industrial_motion/pilz_robot_programming/src/pilz_robot_programming/robot.py 302]: Failure during execution of: Sequence: _SequenceSubCmd - Lin vel_scale: 0.25 acc_scale: 0.1 reference: None Cartesian goal: position: x: 0.5 y: 0 z: 0.4 orientation: x: -0.034232659679 y: 0.341184746683 z: 0.735835924143 w: 0.583923442227 blend radius: 0.3 _SequenceSubCmd - Lin vel_scale: 0.25 acc_scale: 0.1 reference: None Cartesian goal: position: x: 0.5 y: 0 z: 0.75 orientation: x: 0.0 y: -0.0 z: 0.0 w: 1.0 blend radius: 0

martiniil commented 5 years ago

There is a sudden change in joint2 caused by a dead end on the chosen path. This can happen since the IK plugin does not know which path is valid.

This is a known issue.

@agutenkunst You were able to execute this one? Are there numerical instabilities?