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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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Dummy joint value warning on XML robot loading #240

Closed cdellin closed 11 years ago

cdellin commented 11 years ago

I get the following warning when loading a complex robot XML file:

[kinbody.cpp:1200] dummy joint out of upper limit! 0.000000e+00 > 3.141593e+00

Somewhere while loading the XML, OpenRAVE is messing up the joint values of dummy joints. Occasionally, this will affect the default pose of the robot when it's loaded (non-passive joints downstream from the dummy joints aren't correctly initialized to zero). Here's a link to a test case with a simple 2-dof block arm and a Robotiq hand model:

http://cmu.dellin.net/static/temp/test-dummy.tar.gz

(I couldn't figure out how to attach files to issues on github.)

rdiankov commented 11 years ago

yup, this is a problem with the the OpenRAVE XML way of composing robots from multiple smaller xml files. unfortunately i don't know of a fix to it since the transformation code is pretty complicated. if you don't have the time to fix it, then i recommend to just live with it and reset your robot to the zero pose at the beginning via SetDOFValues(zeros(dof))