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Trajectory Optimization
http://rll.berkeley.edu/trajopt
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Segfaut when running examples #43

Open yangyanzhe opened 4 years ago

yangyanzhe commented 4 years ago

OS: Ubuntu 18.04 Trajopt: Build from the latest commit of trajopt from source Dependencies:

Output of python arm_to_cart_target.py:

You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
2020-05-06 17:42:51,857 openrave [WARN] [kinbody.cpp:1576 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2020-05-06 17:42:51,857 openrave [WARN] [kinbody.cpp:1587 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2020-05-06 17:42:51,857 openrave [WARN] [kinbody.cpp:1587 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2020-05-06 17:42:51,857 openrave [WARN] [kinbody.cpp:1587 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2020-05-06 17:42:51,857 openrave [WARN] [kinbody.cpp:1587 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2020-05-06 17:42:51,869 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,910 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,910 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,925 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,925 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,925 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,925 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,930 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,930 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,932 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,943 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,944 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,958 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,958 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,958 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,958 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,964 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,991 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,991 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,991 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,991 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,991 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:51,992 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,003 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,003 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,016 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,016 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,016 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,016 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,022 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,022 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,024 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,048 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,048 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,048 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,048 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,054 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,054 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,054 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,054 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,054 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,054 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,054 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,054 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x55e46d67c1b0)
2020-05-06 17:42:52,197 openrave [WARN] [kinbody.cpp:1348 KinBody::GetLinkEnableStatesMask] pr2 has too many links and will only return enable mask for first 64
Academic license - for non-commercial use only
[INFO] creating bullet collision checker for environment
2020-05-06 17:42:52,248 openrave [WARN] [kinbody.cpp:1576 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2020-05-06 17:42:52,248 openrave [WARN] [kinbody.cpp:1587 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2020-05-06 17:42:52,248 openrave [WARN] [kinbody.cpp:1587 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2020-05-06 17:42:52,248 openrave [WARN] [kinbody.cpp:1587 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2020-05-06 17:42:52,248 openrave [WARN] [kinbody.cpp:1587 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
[INFO] iteration 1
[INFO]  
                |   oldexact |    dapprox |     dexact |      ratio
          COSTS | -------------------------------------------------
      joint_vel |  4.610e+00 | -3.433e-02 | -3.433e-02 |  1.000e+00
    cont_coll_0 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_1 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_2 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_3 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_4 |  1.526e+00 |  1.526e+00 |  1.526e+00 |  1.000e+00
    cont_coll_5 |  5.432e+00 |  2.057e+00 |  2.768e+00 |  1.345e+00
    cont_coll_6 |  1.022e+01 |  4.606e+00 |  4.921e+00 |  1.068e+00
    cont_coll_7 |  1.461e+01 | -2.302e+00 | -2.338e+00 |  1.015e+00
    cont_coll_8 |  1.791e+00 |  1.613e+00 |  1.621e+00 |  1.005e+00
    CONSTRAINTS | -------------------------------------------------
           pose |  1.317e-13 |  8.158e-14 | -9.494e-02 |   ------  
          TOTAL |  3.818e+01 |  7.465e+00 |  8.368e+00 |  1.121e+00
[INFO] expanded trust region. new box size: 0.1500
[INFO] iteration 2
[INFO]  
                |   oldexact |    dapprox |     dexact |      ratio
          COSTS | -------------------------------------------------
      joint_vel |  4.644e+00 |  1.497e-02 |  1.497e-02 |  1.000e+00
    cont_coll_0 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_1 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_2 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_3 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_4 |  0.000e+00 | -7.750e-12 |  0.000e+00 |   ------  
    cont_coll_5 |  2.665e+00 |  2.665e+00 |  2.371e+00 |  8.900e-01
    cont_coll_6 |  5.296e+00 |  1.287e+00 |  1.570e+00 |  1.220e+00
    cont_coll_7 |  1.695e+01 | -2.895e-01 |  5.781e-01 | -1.997e+00
    cont_coll_8 |  1.700e-01 | -6.986e-01 | -7.549e-01 |  1.081e+00
    CONSTRAINTS | -------------------------------------------------
           pose |  9.494e-02 |  9.494e-02 | -1.406e-01 | -1.481e+00
          TOTAL |  2.982e+01 |  3.074e+00 |  3.639e+00 |  1.184e+00
[INFO] expanded trust region. new box size: 0.2250
[INFO] iteration 3
[INFO]  
                |   oldexact |    dapprox |     dexact |      ratio
          COSTS | -------------------------------------------------
      joint_vel |  4.629e+00 |  1.246e-02 |  1.246e-02 |  1.000e+00
    cont_coll_0 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_1 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_2 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_3 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_4 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_5 |  2.932e-01 |  2.932e-01 |  2.932e-01 |  1.000e+00
    cont_coll_6 |  3.726e+00 |  2.654e+00 |  3.726e+00 |  1.404e+00
    cont_coll_7 |  1.637e+01 |  7.483e+00 |  1.579e+01 |  2.110e+00
    cont_coll_8 |  9.249e-01 |  9.249e-01 |  9.249e-01 |  1.000e+00
    CONSTRAINTS | -------------------------------------------------
           pose |  2.356e-01 |  2.356e-01 |  2.343e-01 |  9.947e-01
          TOTAL |  2.618e+01 |  1.160e+01 |  2.098e+01 |  1.808e+00
[INFO] expanded trust region. new box size: 0.3375
[INFO] iteration 4
[INFO]  
                |   oldexact |    dapprox |     dexact |      ratio
          COSTS | -------------------------------------------------
      joint_vel |  4.617e+00 |  1.297e-01 |  1.297e-01 |  1.000e+00
    cont_coll_0 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_1 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_2 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_3 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_4 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_5 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_6 |  0.000e+00 | -3.595e-13 |  0.000e+00 |   ------  
    cont_coll_7 |  5.797e-01 |  5.797e-01 |  5.797e-01 |  1.000e+00
    cont_coll_8 |  0.000e+00 | -3.449e-12 |  0.000e+00 |   ------  
    CONSTRAINTS | -------------------------------------------------
           pose |  1.242e-03 |  1.242e-03 |  1.242e-03 |  1.000e+00
          TOTAL |  5.197e+00 |  7.107e-01 |  7.107e-01 |  1.000e+00
[INFO] expanded trust region. new box size: 0.5063
[INFO] iteration 5
[INFO]  
                |   oldexact |    dapprox |     dexact |      ratio
          COSTS | -------------------------------------------------
      joint_vel |  4.487e+00 |  6.383e-02 |  6.383e-02 |  1.000e+00
    cont_coll_0 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_1 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_2 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_3 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_4 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_5 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_6 |  0.000e+00 | -1.209e-10 |  0.000e+00 |   ------  
    cont_coll_7 |  0.000e+00 | -3.515e-10 |  0.000e+00 |   ------  
    cont_coll_8 |  0.000e+00 | -2.303e-10 |  0.000e+00 |   ------  
    CONSTRAINTS | -------------------------------------------------
           pose |  3.061e-08 |  3.022e-08 |  2.020e-08 |   ------  
          TOTAL |  4.487e+00 |  6.383e-02 |  6.383e-02 |  1.000e+00
[INFO] expanded trust region. new box size: 0.7594
[INFO] iteration 6
[INFO]  
                |   oldexact |    dapprox |     dexact |      ratio
          COSTS | -------------------------------------------------
      joint_vel |  4.423e+00 |  3.319e-02 |  3.319e-02 |  1.000e+00
    cont_coll_0 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_1 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_2 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_3 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_4 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_5 |  0.000e+00 | -1.684e-12 |  0.000e+00 |   ------  
    cont_coll_6 |  0.000e+00 | -5.123e-12 |  0.000e+00 |   ------  
    cont_coll_7 |  0.000e+00 | -8.433e-12 |  0.000e+00 |   ------  
    cont_coll_8 |  0.000e+00 | -3.357e-12 | -1.371e-06 |   ------  
    CONSTRAINTS | -------------------------------------------------
           pose |  1.041e-08 |  1.040e-08 |  7.119e-10 |   ------  
          TOTAL |  4.423e+00 |  3.319e-02 |  3.319e-02 |  1.000e+00
[INFO] expanded trust region. new box size: 1.1391
[INFO] iteration 7
[INFO]  
                |   oldexact |    dapprox |     dexact |      ratio
          COSTS | -------------------------------------------------
      joint_vel |  4.390e+00 |  1.231e-03 |  1.231e-03 |  1.000e+00
    cont_coll_0 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_1 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_2 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_3 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_4 |  0.000e+00 |  0.000e+00 |  0.000e+00 |   ------  
    cont_coll_5 |  0.000e+00 | -6.042e-11 |  0.000e+00 |   ------  
    cont_coll_6 |  0.000e+00 | -2.467e-10 | -1.204e-02 |   ------  
    cont_coll_7 |  0.000e+00 | -4.198e-10 |  0.000e+00 |   ------  
    cont_coll_8 |  1.371e-06 |  1.371e-06 |  1.371e-06 |  1.000e+00
    CONSTRAINTS | -------------------------------------------------
           pose |  9.694e-09 |  9.507e-09 |  1.472e-10 |   ------  
          TOTAL |  4.390e+00 |  1.233e-03 | -1.080e-02 | -8.764e+00
[INFO] converged because improvement ratio was small (2.808e-04 < 1.000e-03)
[INFO] woo-hoo! constraints are satisfied (to tolerance 1.00e-04)
[INFO] 
==================
Optimization results:
status: CONVERGED
cost values: (4.38979, 0, 0, 0, 0, 0, 0, 0, 0, 1.37091e-06)
constraint violations: (4.84697e-10)
n func evals: 8
n qp solves: 7
==================
[('joint_vel', 4.389793480064708), ('cont_coll_0', 0.0), ('cont_coll_1', 0.0), ('cont_coll_2', 0.0), ('cont_coll_3', 0.0), ('cont_coll_4', 0.0), ('cont_coll_5', 0.0), ('cont_coll_6', 0.0), ('cont_coll_7', 0.0), ('cont_coll_8', 1.37090682986174e-06)][('pose', 4.846970399258299e-10)]
No handlers could be found for logger "openravepy"
2020-05-06 17:42:52,339 openrave [WARN] [kinbody.cpp:1348 KinBody::GetLinkEnableStatesMask] pr2 has too many links and will only return enable mask for first 64
Segmentation fault (core dumped)
yangyanzhe commented 4 years ago

I found some discussions on "no handlers could be found for logger openravepy" here. Adding the lines below will help solve the issue of, but still get the segmentation fault error.

from openravepy.misc import InitOpenRAVELogging
InitOpenRAVELogging()