blu-y
commented
2 months ago 성공했을때
ros2 launch kinova_gen3_lite_moveit_config pickplace.launch.py [INFO] [launch]: All log files can be found below /home/kau/.ros/log/2024-08-30-18-30-22-997225-ubuntu-515863 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [pick_place_demo-1]: process started with pid [516014] [pick_place_demo-1] [INFO] [1725010226.635197060] [moveit_task_constructor_demo]: Initializing task pipeline [pick_place_demo-1] Error: Joint 'left_finger_bottoem_joint' declared as part of group state 'open' is not known to the URDF [pick_place_demo-1] at line 363 in /home/kau/ws_moveit2/src/srdfdom/src/model.cpp [pick_place_demo-1] [INFO] [1725010226.791470702] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0936383 seconds [pick_place_demo-1] [INFO] [1725010226.791544400] [moveit_robot_model.robot_model]: Loading robot model 'gen3_lite'... [pick_place_demo-1] [INFO] [1725010226.791562257] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [pick_place_demo-1] [INFO] [1725010227.303412734] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [pick_place_demo-1] [INFO] [1725010227.314380767] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [pick_place_demo-1] [INFO] [1725010227.314453088] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [pick_place_demo-1] [INFO] [1725010227.314464672] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [pick_place_demo-1] [INFO] [1725010227.314518274] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [pick_place_demo-1] [INFO] [1725010227.314548674] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [pick_place_demo-1] [INFO] [1725010227.314559203] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [pick_place_demo-1] [INFO] [1725010227.314581027] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [pick_place_demo-1] [INFO] [1725010227.314591011] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000 [pick_place_demo-1] [INFO] [1725010227.314621892] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [pick_place_demo-1] [INFO] [1725010227.314647909] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [pick_place_demo-1] [INFO] [1725010227.314662981] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [pick_place_demo-1] [INFO] [1725010227.314669413] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [pick_place_demo-1] [INFO] [1725010227.314674949] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [pick_place_demo-1] [INFO] [1725010227.314680230] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [pick_place_demo-1] [INFO] [1725010227.314685958] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [pick_place_demo-1] [INFO] [1725010227.322636160] [moveit_task_constructor_demo]: Start searching for task solutions [pick_place_demo-1] [INFO] [1725010228.430661579] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'left_finger_bottom_joint'). Assuming within bounds. [pick_place_demo-1] [INFO] [1725010228.430739629] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'right_finger_bottom_joint'). Assuming within bounds. [pick_place_demo-1] [INFO] [1725010228.432773437] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [WARN] [1725010228.446860934] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml. [pick_place_demo-1] [INFO] [1725010228.449099707] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ] [pick_place_demo-1] [INFO] [1725010228.492719543] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010228.554929319] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010228.590771502] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010228.679572492] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010228.717468642] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010228.752322002] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'joint_3'). Assuming within bounds. [pick_place_demo-1] [INFO] [1725010228.752914016] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010228.880670797] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ] [pick_place_demo-1] [INFO] [1725010228.897314291] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010228.927951360] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010228.976583730] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.009601366] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.046254960] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.117943453] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.174752494] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.218387402] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.248911637] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.293447110] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [ERROR] [1725010229.327580069] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 8 ] out of 50. Explanations follow in command line. Contacts are published on /display_contacts [pick_place_demo-1] [INFO] [1725010229.327717704] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'table' (type 'Object') and 'left_finger_dist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored. [pick_place_demo-1] [INFO] [1725010229.327823979] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored) [pick_place_demo-1] [ERROR] [1725010229.328178707] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states. [pick_place_demo-1] [INFO] [1725010229.335366683] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.399521496] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.458769378] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.529321652] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [WARN] [1725010229.577957542] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 9. Try a lower max_step. [pick_place_demo-1] [INFO] [1725010229.594653293] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.685007919] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.745030123] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.781566625] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.840857773] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.891826645] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010229.963127161] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.011344609] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.064639039] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.110499920] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'joint_3'). Assuming within bounds. [pick_place_demo-1] [INFO] [1725010230.111161375] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.143479379] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ] [pick_place_demo-1] [INFO] [1725010230.163825519] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.199147881] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.254205809] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [ERROR] [1725010230.286707945] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 8 ] out of 50. Explanations follow in command line. Contacts are published on /display_contacts [pick_place_demo-1] [INFO] [1725010230.286820716] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'table' (type 'Object') and 'left_finger_dist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored. [pick_place_demo-1] [INFO] [1725010230.286840300] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored) [pick_place_demo-1] [ERROR] [1725010230.287051249] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states. [pick_place_demo-1] [INFO] [1725010230.308402469] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.343371894] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.384099887] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.467064611] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.514827104] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.575449994] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.626838524] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.666035377] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [WARN] [1725010230.692265014] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 7. Try a lower max_step. [pick_place_demo-1] [INFO] [1725010230.694561164] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.748536411] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.792587713] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.819708859] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.857866808] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.886194542] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.922240569] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010230.994426033] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.046191596] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.076230634] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'joint_3'). Assuming within bounds. [pick_place_demo-1] [INFO] [1725010231.076901818] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.104723877] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ] [pick_place_demo-1] [INFO] [1725010231.109911710] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.151514699] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.207590474] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.256954412] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.305438170] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [ERROR] [1725010231.345677159] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 8 ] out of 50. Explanations follow in command line. Contacts are published on /display_contacts [pick_place_demo-1] [INFO] [1725010231.349089398] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'table' (type 'Object') and 'left_finger_dist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored. [pick_place_demo-1] [INFO] [1725010231.349130327] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored) [pick_place_demo-1] [ERROR] [1725010231.349554305] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states. [pick_place_demo-1] [INFO] [1725010231.351400397] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.418042595] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.461101938] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.501868235] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.550938758] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.575652392] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.605634309] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.669104657] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.709520098] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.735297213] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'joint_3'). Assuming within bounds. [pick_place_demo-1] [INFO] [1725010231.735972749] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.766939585] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ] [pick_place_demo-1] [INFO] [1725010231.770671608] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.830454030] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.875064929] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.904273260] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010231.953235333] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [ERROR] [1725010231.982905627] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 8 ] out of 50. Explanations follow in command line. Contacts are published on /display_contacts [pick_place_demo-1] [INFO] [1725010231.986002211] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'table' (type 'Object') and 'left_finger_dist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored. [pick_place_demo-1] [INFO] [1725010231.987306882] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored) [pick_place_demo-1] [ERROR] [1725010231.987662570] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states. [pick_place_demo-1] [INFO] [1725010231.989393778] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010232.028153021] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010232.088550401] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [WARN] [1725010232.148881923] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 4. Try a lower max_step. [pick_place_demo-1] [INFO] [1725010232.152048461] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010232.187203875] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010232.223685016] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010232.285488540] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010232.313979798] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725010232.357516848] [moveit_task_constructor_demo]: Planning succeded [pick_place_demo-1] [INFO] [1725010232.359569024] [moveit_task_constructor_demo]: Executing solution trajectory [pick_place_demo-1] [INFO] [1725010247.110573677] [moveit_task_constructor_demo]: Execution complete
ros2 launch kinova_gen3_lite_moveit_config pickplace.launch.py [INFO] [launch]: All log files can be found below /home/kau/.ros/log/2024-08-30-18-19-34-004557-ubuntu-454562 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [pick_place_demo-1]: process started with pid [454601] [pick_place_demo-1] [INFO] [1725009575.225243355] [moveit_task_constructor_demo]: Initializing task pipeline [pick_place_demo-1] Error: Joint 'left_finger_bottoem_joint' declared as part of group state 'open' is not known to the URDF [pick_place_demo-1] at line 363 in /home/kau/ws_moveit2/src/srdfdom/src/model.cpp [pick_place_demo-1] [INFO] [1725009575.353797027] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0978223 seconds [pick_place_demo-1] [INFO] [1725009575.353862277] [moveit_robot_model.robot_model]: Loading robot model 'gen3_lite'... [pick_place_demo-1] [INFO] [1725009575.353879558] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [pick_place_demo-1] [INFO] [1725009575.855613542] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [pick_place_demo-1] [INFO] [1725009575.866796576] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [pick_place_demo-1] [INFO] [1725009575.866877795] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [pick_place_demo-1] [INFO] [1725009575.866890947] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [pick_place_demo-1] [INFO] [1725009575.866945765] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [pick_place_demo-1] [INFO] [1725009575.866977510] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [pick_place_demo-1] [INFO] [1725009575.866986566] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [pick_place_demo-1] [INFO] [1725009575.867006599] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [pick_place_demo-1] [INFO] [1725009575.867015559] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000 [pick_place_demo-1] [INFO] [1725009575.867046472] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [pick_place_demo-1] [INFO] [1725009575.867072553] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [pick_place_demo-1] [INFO] [1725009575.867087177] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [pick_place_demo-1] [INFO] [1725009575.867092937] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [pick_place_demo-1] [INFO] [1725009575.867098698] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [pick_place_demo-1] [INFO] [1725009575.867103914] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [pick_place_demo-1] [INFO] [1725009575.867109706] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [pick_place_demo-1] [INFO] [1725009575.872404558] [moveit_task_constructor_demo]: Start searching for task solutions [pick_place_demo-1] [INFO] [1725009577.156638913] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [WARN] [1725009577.159807843] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml. [pick_place_demo-1] [INFO] [1725009577.169238950] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.244043213] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.289947000] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.377363812] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.431794422] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.477522650] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [ERROR] [1725009577.517345449] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 8 ] out of 50. Explanations follow in command line. Contacts are published on /display_contacts [pick_place_demo-1] [INFO] [1725009577.517476909] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'table' (type 'Object') and 'left_finger_dist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored. [pick_place_demo-1] [INFO] [1725009577.517496013] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored) [pick_place_demo-1] [ERROR] [1725009577.517757141] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states. [pick_place_demo-1] [INFO] [1725009577.519001436] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.545406891] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.600873757] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.672239674] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.735720835] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.791907819] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.849507166] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.876931213] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.931297533] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009577.981323046] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.015228509] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.062103557] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.125153119] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [ERROR] [1725009578.165270454] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 8 ] out of 50. Explanations follow in command line. Contacts are published on /display_contacts [pick_place_demo-1] [INFO] [1725009578.165390393] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'table' (type 'Object') and 'left_finger_dist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored. [pick_place_demo-1] [INFO] [1725009578.165408826] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored) [pick_place_demo-1] [ERROR] [1725009578.165611200] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states. [pick_place_demo-1] [INFO] [1725009578.172836191] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.218193527] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.287913728] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.335734788] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gen3_lite_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.420345560] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [WARN] [1725009578.492423050] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 9. Try a lower max_step. [pick_place_demo-1] [INFO] [1725009578.517184998] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.597583704] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.660222662] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.718625937] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.783060822] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [WARN] [1725009578.844320186] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step. [pick_place_demo-1] [WARN] [1725009578.859506990] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 6. Try a lower max_step. [pick_place_demo-1] [INFO] [1725009578.875269557] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009578.940934592] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [WARN] [1725009578.992349364] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 7. Try a lower max_step. [pick_place_demo-1] [INFO] [1725009579.015325081] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [pick_place_demo-1] [INFO] [1725009579.060143775] [moveit_task_constructor_demo]: Planning succeded [pick_place_demo-1] [INFO] [1725009579.061485001] [moveit_task_constructor_demo]: Executing solution trajectory [pick_place_demo-1] [INFO] [1725009594.960879347] [moveit_task_constructor_demo]: Execution complete