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personalrobotics / or_trajopt

OpenRAVE plugin to expose TrajOpt code as an OpenRAVE planner
BSD 3-Clause "New" or "Revised" License
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CartVelTermInfo constraint is added to the PlantoEndEffectorPose #32

Open lakshmip001 opened 5 years ago

lakshmip001 commented 5 years ago

CartVelTermInfo constraint is added to PlantoEndEffectorPose in planning,py as shown below

{ "type": "cart_vel", "name": "cart_vel", "params": { "max_displacement": 0.05, "first_step": 0, "last_step": num_steps-1, "link": manipulator.GetEndEffector().GetName() } }

Results in an error as shown below:

File "/home/lakshmi/cat_OR_ws/src/or_trajopt/src/or_trajopt/planning.py", line 421, in PlanToEndEffectorPose return self._PlanToIK(robot, robot_checker, pose, kwargs) File "/home/lakshmi/cat_OR_ws/src/or_trajopt/src/or_trajopt/planning.py", line 512, in _PlanToIK return self._Plan(robot, robot_checker, request, kwargs) File "/home/lakshmi/cat_OR_ws/src/or_trajopt/src/or_trajopt/planning.py", line 313, in _Plan robot, robot_checker, [q_check]) File "/home/lakshmi/cat_OR_ws/src/or_trajopt/src/or_trajopt/planning.py", line 617, in _checkCollisionForIKSolutions robot_checker.VerifyCollisionFree() File "/home/lakshmi/cat_OR_ws/src/prpy/src/prpy/collision.py", line 88, in VerifyCollisionFree raise SelfCollisionPlanningError.FromReport(report) prpy.planning.exceptions.SelfCollisionPlanningError: Detected collision: <ur5, forearm_link> x <ur5, wrist_3_link>.

Kindly help me to solve this problem.