Open ghost opened 4 years ago
How did you install choreonoid and related packages? Considering your log file I'd wager from source?
Cannot find or open "/usr/local/lib/choreonoid-1.7/rtc/Virtual-JVRC1-RTC.conf".
A file of RTC "PDcontroller" does not exist.
This is the reason your robot falls to the floor, the PDController
is computing the joints reference for the robot, without it the joints are unactuated. PDController
is part of hrpsys-base
, has this been successfully installed?
Can you check that you have lib/choreonoid-1.7/rtc/PDcontroller.so
?
ImportError: No module named 'omniORB'
That's another separate issue, looks like you might be missing the python-omniorb
package?
Other general troubleshooting tips:
/usr/share/hrpsys/samples/JVRC1
folder? Unfortunately the way choreonoid's configuration files are handled doesn't make it easy to run it successfully from anywhere.@arntanguy I have the same problem. when I try to run the choreonoid I get :
ImportError: No module named 'omniORB'
Here is the log :
The Eigen library version 3.2.92 is used (SIMD intruction sets in use: SSE, SSE2).
Detecting plugin file "/usr/local/bin/../lib/choreonoid-1.8/libCnoidOpenRTMPlugin.so"
Detecting plugin file "/usr/local/bin/../lib/choreonoid-1.8/libCnoidPythonSimScriptPlugin.so"
Detecting plugin file "/usr/local/bin/../lib/choreonoid-1.8/libCnoidAssimpPlugin.so"
Detecting plugin file "/usr/local/bin/../lib/choreonoid-1.8/libCnoidCorbaPlugin.so"
Detecting plugin file "/usr/local/bin/../lib/choreonoid-1.8/libCnoidPoseSeqPlugin.so"
Detecting plugin file "/usr/local/bin/../lib/choreonoid-1.8/libCnoidPythonPlugin.so"
Detecting plugin file "/usr/local/bin/../lib/choreonoid-1.8/libCnoidBodyPlugin.so"
Detecting plugin file "/usr/local/bin/../lib/choreonoid-1.8/libCnoidBalancerPlugin.so"
Body customizer "/usr/local/bin/../lib/choreonoid-1.8/customizer/Labo1Customizer.so" for Labo1 has been loaded.
Body-plugin has been activated.
Assimp-plugin has been activated.
SimulationExecutionContext has been registered.
SimulationPeriodicExecutionContext has been registered.
ChoreonoidExecutionContext has been registered.
ChoreonoidPeriodicExecutionContext has been registered.
OpenRTM-plugin has been activated.
PoseSeq-plugin has been activated.
Python-plugin has been activated.
PythonSimScript-plugin has been activated.
Balancer-plugin has been activated.
Corba-plugin has been activated.
Loading project file "sim_mc.cnoid" ...
Task sequencer '' has been deactivated.
OpenGL 3.3 (VMware, Inc. llvmpipe (LLVM 6.0, 256 bits), GLSL 3.30) is available for the "Scene" view.
Shadow casting is disabled for this GPU due to some problems.
PythonPlugin: "/usr/local/bin/../lib/python2.7/dist-packages/hrpsys" has been added to the Python module search path list.
Restoring ExtCommandItem "ModelLoader"
External command "openhrp-model-loader" has been executed by item "ModelLoader".
Restoring WorldItem "World"
ready
Restoring BodyItem "JVRC1"
Loading Body "/usr/local/share/OpenHRP-3.1/robot/JVRC1/main.wrl"
-> ok!
Restoring BodyRTCItem "BodyRTC"
Config File "/usr/local/bin/../lib/choreonoid-1.8/rtc/Virtual-JVRC1-RTC.conf" has been loaded.
RTC "PDcontroller" has been created from "/usr/local/bin/../lib/choreonoid-1.8/rtc/PDcontroller.so".
RTC "JVRC1Controller(Robot)0" has been created.
Restoring SensorVisualizer "SensorVisualizer"
loading file:////usr/local/share/OpenHRP-3.1/robot/JVRC1/main.wrl
Humanoid node
Joint node PELVIS
Segment node PELVIS_S
AccelerationSensorgsensor
Gyrogyrometer
Joint node R_HIP_P
Segment node R_HIP_P_S
Joint node R_HIP_R
Segment node R_HIP_R_S
Joint node R_HIP_Y
Segment node R_HIP_Y_S
Joint node R_KNEE
Segment node R_KNEE_S
Joint node R_ANKLE_R
Segment node R_ANKLE_R_S
Joint node R_ANKLE_P
Segment node R_ANKLE_P_S
ForceSensorrfsensor
Joint node L_HIP_P
Segment node L_HIP_P_S
Joint node L_HIP_R
Segment node L_HIP_R_S
Joint node L_HIP_Y
Segment node L_HIP_Y_S
Joint node L_KNEE
Segment node L_KNEE_S
Joint node L_ANKLE_R
Segment node L_ANKLE_R_S
Joint node L_ANKLE_P
Segment node L_ANKLE_P_S
ForceSensorlfsensor
Joint node WAIST_Y
Segment node WAIST_Y_S
Joint node WAIST_P
Segment node WAIST_P_S
Joint node WAIST_R
Segment node WAIST_R_S
Joint node NECK_Y
Segment node NECK_Y_S
Joint node NECK_R
Segment node NECK_R_S
Joint node NECK_P
Segment node NECK_P_S
VisionSensorrcamera
VisionSensorlcamera
VisionSensordcamera
RangeSensorranger
Joint node R_SHOULDER_P
Segment node R_SHOULDER_P_S
Joint node R_SHOULDER_R
Segment node R_SHOULDER_R_S
Joint node R_SHOULDER_Y
Segment node R_SHOULDER_Y_S
Joint node R_ELBOW_P
Segment node R_ELBOW_P_S
Joint node R_ELBOW_Y
Segment node R_ELBOW_Y_S
Joint node R_WRIST_R
Segment node R_WRIST_R_S
Joint node R_WRIST_Y
ForceSensorrhsensor
Segment node R_WRIST_Y_S
Joint node R_UTHUMB
Segment node R_UTHUMB_S
Joint node R_LTHUMB
Segment node R_LTHUMB_S
Joint node R_UINDEX
Segment node R_UINDEX_S
Joint node R_LINDEX
Segment node R_LINDEX_S
Joint node R_ULITTLE
Segment node R_ULITTLE_S
Joint node R_LLITTLE
Segment node R_LLITTLE_S
Joint node L_SHOULDER_P
Segment node L_SHOULDER_P_S
Joint node L_SHOULDER_R
Segment node L_SHOULDER_R_S
Joint node L_SHOULDER_Y
Segment node L_SHOULDER_Y_S
Joint node L_ELBOW_P
Segment node L_ELBOW_P_S
Joint node L_ELBOW_Y
Segment node L_ELBOW_Y_S
Joint node L_WRIST_R
Segment node L_WRIST_R_S
Joint node L_WRIST_Y
ForceSensorlhsensor
Segment node L_WRIST_Y_S
Joint node L_UTHUMB
Segment node L_UTHUMB_S
Joint node L_LTHUMB
Segment node L_LTHUMB_S
Joint node L_UINDEX
Segment node L_UINDEX_S
Joint node L_LINDEX
Segment node L_LINDEX_S
Joint node L_ULITTLE
Segment node L_ULITTLE_S
Joint node L_LLITTLE
Segment node L_LLITTLE_S
The model was successfully loaded !
Restoring BodyItem "longfloor"
Loading Body "/usr/local/share/OpenHRP-3.1/sample/model/longfloor.wrl"
-> ok!
Restoring AISTSimulatorItem "AISTSimulator"
Restoring PythonSimScriptItem "sim_mc.py"
Loading Python Script for Simulation "/usr/local/share/hrpsys/samples/JVRC1/sim_mc.py"
-> ok!
8 / 8 item(s) have been loaded.
Project "sim_mc.cnoid" has been completely loaded.
setup RT components
detected the ExecutionContext
connect JVRC1Controller(Robot)0:q --> PDcontroller0:angle
Connection was successful.
connect JVRC1Controller(Robot)0:tau <-- PDcontroller0:torque
Connection was successful.
Simulation by AISTSimulator has started.
Execution of Python script "sim_mc.py" has been started.
The execution of Python script "sim_mc.py" failed.
ImportError: No module named 'omniORB'
At:
/usr/local/bin/../lib/python2.7/dist-packages/hrpsys/rtm.py(1): <module>
<frozen importlib._bootstrap>(222): _call_with_frames_removed
<frozen importlib._bootstrap_external>(665): exec_module
<frozen importlib._bootstrap>(673): _load_unlocked
<frozen importlib._bootstrap>(958): _find_and_load_unlocked
<frozen importlib._bootstrap>(969): _find_and_load
/usr/local/share/hrpsys/samples/JVRC1/sim_mc.py(3): <module>
I'm running choreonoid from /usr/local/share/hrpsys/samples/JVRC1
Did you install python-omniorb?
Hi
I have installed your packages and I am currently trying to run LIPM walking controller with JVRC1 robot. But after running the "choreonoid --start-simulation sim_mc.cnoid" command, the robot falls down in simulator and the message page is as following. Do you know how can I solve this issue? Thank You