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meco-group / omg-tools

Optimal Motion Generation-tools: motion planning made easy
GNU Lesser General Public License v3.0
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Racetrack example stops after first iteration #87

Closed Shantnu12345 closed 4 years ago

Shantnu12345 commented 4 years ago

Could you please help me with this issue? Thank you for your time :)

I am trying to run the gcodeproblem_racetrack.py example. However, it stops at first iteration and throws error as follows :

akashan@akashan:~/omg-tools/examples/GCode_examples$ python gcodeproblem_racetrack.py Do you want to shift or scale the loaded GCode? (yes/no): no

This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit http://projects.coin-or.org/Ipopt

elapsed time in get_init_guess 0.555369853973 Building nlp ... in 1.788556 s Current GCode block: 0 Invalid_Option

It | t upd | time

1 | 1.8392e-03 | 0.0000e+00

/usr/lib/python2.7/dist-packages/matplotlib/backend_bases.py:2437: MatplotlibDeprecationWarning: Using default event loop until function specific to this GUI is implemented warnings.warn(str, mplDeprecation) Traceback (most recent call last): File "gcodeproblem_racetrack.py", line 87, in deployer.update_segment() File "/home/akashan/omg-tools/omgtools/execution/deployer.py", line 168, in update_segment state_traj_old, input_traj_old, dinput_traj_old, ddinput_traj_old) File "/home/akashan/omg-tools/omgtools/execution/deployer.py", line 209, in check_results x1, y1, z1 = self.input_traj[:,-2] # second last point IndexError: index -2 is out of bounds for axis 1 with size 1

timmercy commented 4 years ago

The problem is in the "Invalid_Option" line. You have to remove the following line from the schedulerproblem.set_options function: 'ipopt.linear_solver': 'ma57', since you don't have the MA57 solver installed.

Normally the problem should solve fine afterwards!

Shantnu12345 commented 4 years ago

Thanks. I was able to install the hsl from source and it resolved the issue. Please note that hsl precomplied binaries never worked for me. I will close this issue.

Best, Shantnu