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:robot: MoveIt for ROS 2
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Trajectory end-point deviates too much from goal state error in panda moveit2 pick and place tutorial by picknik #2794

Open Mustafaalam99 opened 2 months ago

Mustafaalam99 commented 2 months ago

Hello,

I am running the panda moveit2 tutorial following the steps from picknik pick and place tutorial.. Once I run the demo files as mentioned at the end of the tutorial, I am getting the following error:

[mtc_tutorial-1] [WARN] [1713245752.503662871] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245752.559745649] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245752.614461012] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245752.670003269] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245752.757262220] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245752.812091905] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245752.867192145] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245752.923142824] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245752.978489650] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.041838231] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.097377855] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [INFO] [1713245753.129554237] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [mtc_tutorial-1] [WARN] [1713245753.208331470] [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. [mtc_tutorial-1] [WARN] [1713245753.282146098] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.349613241] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.404671918] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.514834878] [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. [mtc_tutorial-1] [WARN] [1713245753.569523856] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.624655776] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [INFO] [1713245753.638174224] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [mtc_tutorial-1] [WARN] [1713245753.729155802] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.815352272] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.878776528] [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. [mtc_tutorial-1] [WARN] [1713245753.933712285] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245753.989187053] [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. [mtc_tutorial-1] [WARN] [1713245754.044292019] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [INFO] [1713245754.130767508] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [mtc_tutorial-1] [WARN] [1713245754.198372905] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245754.254113234] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245754.310278832] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245754.364865600] [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. [mtc_tutorial-1] [WARN] [1713245754.420906049] [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. [mtc_tutorial-1] [WARN] [1713245754.476029444] [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. [mtc_tutorial-1] [WARN] [1713245754.553292227] [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. [mtc_tutorial-1] [WARN] [1713245754.608003600] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245754.672499404] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245754.737378655] [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. [mtc_tutorial-1] [WARN] [1713245754.792493844] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245754.848212286] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245754.905363509] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [INFO] [1713245754.949431821] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [mtc_tutorial-1] [WARN] [1713245755.018404003] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245755.074164078] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245755.129946973] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245755.185166179] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245755.250996878] [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. [mtc_tutorial-1] [WARN] [1713245755.306103327] [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. [mtc_tutorial-1] [WARN] [1713245755.377036655] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] [WARN] [1713245755.431601120] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step. [mtc_tutorial-1] 0 - ← 0 → - 0 / demo task [mtc_tutorial-1] 1 - ← 1 → - 0 / current [mtc_tutorial-1] - 0 → 1 → - 1 / open hand [mtc_tutorial-1] - 1 → 0 ← 107 - / move to pick [mtc_tutorial-1] 107 - ← 107 → -107 / pick object [mtc_tutorial-1] 107 - ← 107 ← 6 - / approach object [mtc_tutorial-1] 6 - ← 130 → - 6 / grasp pose IK [mtc_tutorial-1] 25 - ← 25 → - 25 / generate grasp pose [mtc_tutorial-1] - 6 → 124 → - 0 / allow collision (hand,object) [mtc_tutorial-1] - 0 → 124 → - 0 / close hand [mtc_tutorial-1] - 0 → 124 → - 0 / attach object [mtc_tutorial-1] - 0 → 118 → -118 / lift object [mtc_tutorial-1] -107 → 0 ← 488 - / move to place [mtc_tutorial-1] 488 - ← 488 → - 0 / place object [mtc_tutorial-1] 1714 - ← 1714 → - 0 / place pose IK [mtc_tutorial-1] 1240 - ← 1240 → -1240 / generate place pose [mtc_tutorial-1] - 0 → 1714 → - 0 / open hand [mtc_tutorial-1] - 0 → 1714 → - 0 / forbid collision (hand,object) [mtc_tutorial-1] - 0 → 1714 → - 0 / detach object [mtc_tutorial-1] - 0 → 488 → -488 / retreat [mtc_tutorial-1] - 0 → 478 → -478 / return home [mtc_tutorial-1] Failing stage(s): [mtc_tutorial-1] move to pick (0/107): Trajectory end-point deviates too much from goal state [mtc_tutorial-1] [ERROR] [1713245755.524014190] [mtc_tutorial]: Task planning failed

Can someone help me on this?

Anarchy-ts commented 2 months ago

Even I am facing the exact same issue. PLEASE HELP

rhaschke commented 2 months ago

I guess you are running against MoveIt2's main branch. Try https://github.com/moveit/moveit_task_constructor/pull/542. I'm not yet sure, why&where the main branch relaxed the goal reaching tolerance, which is the root cause of the problem.

github-actions[bot] commented 2 weeks ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.