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rshi159 / hsr_driveby_full

4th year project on Toyota HSR pick-and-place motion planning
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Couldn't open file /opt/ros/kinetic/share/hsr_meshes/meshes/torso_v0/torso.std #1

Open yani-rl-ai opened 3 years ago

yani-rl-ai commented 3 years ago

HI @rshi159 thank you for sharing your code. i am interested to learn your code, i am a HSR user, but i get an error when i execute ./hsr_wrs_world_pick_and_place_full i got this following error : [ INFO] [1602430416.810198746]: Loading robot model 'hsrb'... [ERROR] [1602430416.812087122]: Error retrieving file [file:///opt/ros/kinetic/share/hsr_meshes/meshes/torso_v0/torso.std]: Couldn't open file /opt/ros/kinetic/share/hsr_meshes/meshes/torso_v0/torso.std

Setup Scene<< [-0.3 0.2 0.45] IK Step 1<< [ 2.65 -1.0987 0.56 ] IK Step 2<< [-0.91763856 0.37499606 -0.58251285 0. -0.958246 0.67344977 -0.97403164 2.57199005] [ 2.11428074 -0.97184923 -0.59021315 0. -0.5655785 0.58611913 -1.20048822 -0.15060385] q_goal_approach valid? True q_goal_approach valid? True Check IKs<< Writing to File Created Base Trajectory<< [EXOTica]: [Sum of Penetrations] World Margin: 0.03 Robot Margin: 0.01 problem with setting base orientation [-2.1 1.2 -1.57 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.

                        1. 0.

      1. ]

        first pass

        Traceback (most recent call last): File "./hsr_wrs_world_pick_and_place_full", line 470, in solution, midpoint = planner.solve_aico(t_grasp_begin, t_grasp_duration, t_duration, grasp = True) File "./hsr_wrs_world_pick_and_place_full", line 165, in solve_aico q_start = problem.apply_start_state(True) AttributeError: 'pyexotica._pyexotica.Problems.UnconstrainedTimeInd' object has no attribute 'apply_start_state'

can you help me to solve? thank you

wxmerkt commented 3 years ago

Hi Mohamad, This is an error in the hsr_description package. A patch is open upstream: https://github.com/ToyotaResearchInstitute/hsr_description/pull/9. If you build the HSR description package with this PR change locally it should work.

The second error seems like it could be from a different Exotica version. Which one did you install? You might have to build from source as well.

Best wishes, Wolfgang