v-lopez
commented
7 years ago Happened 2 more times, I launched the simulation with the ihmc controllers and send only sent the commands attached in the rosbag.
To me it looks related to QUEUE mode, because I had never experienced this before, and it's happening a lot since I'm trying to use QUEUE mode.
INIT: Switch to high level control
publishing and latching message for 3.0 seconds
INIT: Wait 2s (ROS time) for control to be switched
INIT: Detach from harness
INIT: Done
[startup_robot-13] process has finished cleanly
log file: /home/user/.ros/log/23bff06a-2fd1-11e7-bc8d-0242ac110003/startup_robot-13*.log
publishing and latching message for 3.0 seconds
[ INFO] [1493796194.282622033, 41.056000000]: [WARN] (ControllerCommandValidationTools.java:67): Joint out of bounds: upperNeckPitch (-0.872, 0.0) = 1.9265062059460516E-12 (t=0)
[ INFO] [1493796194.283008525, 41.056000000]: [WARN] (ControllerCommandValidationTools.java:50): Invalid joint trajectory ( 2 - upperNeckPitch)
[ERROR] [1493796194.283220733, 41.056000000]: Neck command out of joint limits!
[ INFO] [1493796194.455819847, 41.099000000]: [WARN] (ControllerCommandValidationTools.java:67): Joint out of bounds: upperNeckPitch (-0.872, 0.0) = 3.013319532142589E-21 (t=0)
[ INFO] [1493796194.455881973, 41.099000000]: [WARN] (ControllerCommandValidationTools.java:50): Invalid joint trajectory ( 2 - upperNeckPitch)
[ERROR] [1493796194.455909172, 41.099000000]: Neck command out of joint limits!
[ INFO] [1493796194.724013997, 41.184000000]: [WARN] (ControllerCommandValidationTools.java:67): Joint out of bounds: upperNeckPitch (-0.872, 0.0) = 1.5119536331343411E-21 (t=0)
[ INFO] [1493796194.724118986, 41.184000000]: [WARN] (ControllerCommandValidationTools.java:50): Invalid joint trajectory ( 2 - upperNeckPitch)
[ERROR] [1493796194.724151450, 41.184000000]: Neck command out of joint limits!
[ INFO] [1493796194.773120920, 41.200000000]: [WARN] (ControllerCommandValidationTools.java:67): Joint out of bounds: upperNeckPitch (-0.872, 0.0) = 2.0858184548991296E-21 (t=0)
[ INFO] [1493796194.773230759, 41.200000000]: [WARN] (ControllerCommandValidationTools.java:50): Invalid joint trajectory ( 2 - upperNeckPitch)
[ERROR] [1493796194.773263200, 41.200000000]: Neck command out of joint limits!
[ERROR] [1493796194.774649133, 41.200000000]: Exception in thread "SynchronousMultiThreadedRobotController-thread-1" java.lang.RuntimeException: java.lang.IndexOutOfBoundsException: Index: 0, Size: 0
[ERROR] [1493796194.774868219, 41.200000000]: at us.ihmc.wholeBodyController.DRCControllerThread.run(DRCControllerThread.java:360)
[ERROR] [1493796194.775012225, 41.200000000]: at us.ihmc.wholeBodyController.concurrent.SynchronousMultiThreadedRobotController$ReentrantLockedControlElementRunner.run(SynchronousMultiThreadedRobotController.java:89)
[ERROR] [1493796194.775141955, 41.200000000]: at java.lang.Thread.run(Thread.java:745)
[ERROR] [1493796194.775410554, 41.200000000]: Caused by: java.lang.IndexOutOfBoundsException: Index: 0, Size: 0
[ERROR] [1493796194.775504051, 41.200000000]: at us.ihmc.robotics.lists.RecyclingArrayList.rangeCheck(RecyclingArrayList.java:340)
[ERROR] [1493796194.775635359, 41.200000000]: at us.ihmc.robotics.lists.RecyclingArrayList.get(RecyclingArrayList.java:130)
[ERROR] [1493796194.775775971, 41.200000000]: at us.ihmc.robotics.math.trajectories.waypoints.SimpleTrajectoryPointList.getTrajectoryPoint(SimpleTrajectoryPointList.java:59)
[ERROR] [1493796194.775916582, 41.200000000]: at us.ihmc.commonWalkingControlModules.trajectories.LookAheadCoMHeightTrajectoryGenerator.initializeOffsetTrajectoryGenerator(LookAheadCoMHeightTrajectoryGenerator.java:893)
[ERROR] [1493796194.776055573, 41.200000000]: at us.ihmc.commonWalkingControlModules.trajectories.LookAheadCoMHeightTrajectoryGenerator.solve(LookAheadCoMHeightTrajectoryGenerator.java:762)
[ERROR] [1493796194.776165470, 41.200000000]: at us.ihmc.commonWalkingControlModules.trajectories.LookAheadCoMHeightTrajectoryGenerator.solve(LookAheadCoMHeightTrajectoryGenerator.java:728)
[ERROR] [1493796194.776228326, 41.200000000]: at us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.CenterOfMassHeightManager.solve(CenterOfMassHeightManager.java:177)
[ERROR] [1493796194.776287671, 41.200000000]: at us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.CenterOfMassHeightManager.computeDesiredCoMHeightAcceleration(CenterOfMassHeightManager.java:198)
[ERROR] [1493796194.776635251, 41.200000000]: at us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WalkingHighLevelHumanoidController.updateManagers(WalkingHighLevelHumanoidController.java:586)
[ERROR] [1493796194.776702157, 41.200000000]: at us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WalkingHighLevelHumanoidController.doAction(WalkingHighLevelHumanoidController.java:518)
[ERROR] [1493796194.776781446, 41.200000000]: at us.ihmc.robotics.stateMachines.conditionBasedStateMachine.GenericStateMachine.doAction(GenericStateMachine.java:152)
[ERROR] [1493796194.776963058, 41.200000000]: at us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.HighLevelHumanoidControllerManager.doControl(HighLevelHumanoidControllerManager.java:178)
[ERROR] [1493796194.777059071, 41.200000000]: at us.ihmc.robotics.robotController.ModularRobotController.doControl(ModularRobotController.java:20)
[ERROR] [1493796194.777094082, 41.200000000]: at us.ihmc.wholeBodyController.DRCControllerThread.run(DRCControllerThread.java:352)
[ERROR] [1493796194.777214268, 41.200000000]: ... 2 more
dljsjr
Using latest srcsim installation
Steps to reproduce issue
Have only seen it once after heavy use of the robot, while recording rosbags for issue https://github.com/ihmcrobotics/ihmc_valkyrie_ros/issues/13 I finished recording a rosbag sending trajectories only to Left arm using OVERRIDE mode, and restarted my application publishing Left & Right trajectories using QUEUE mode.
Probably a spurious failure, nevertheless here's the stacktrace in case it's easy to spot.
If it ever happens again I'll expand this.