ikfast with nxo

[130s]

I'm just wondering if there is any reason why nextage_moveit_config does not use ikfast? @k-okada

[k-okada]

no

◉ Kei Okada

On Tue, Jun 16, 2015 at 1:03 AM, Isaac I.Y. Saito notifications@github.com wrote:

I'm just wondering if there is any reason why nextage_moveit_config does not use ikfast? @k-okada https://github.com/k-okada

— Reply to this email directly or view it on GitHub https://github.com/tork-a/rtmros_nextage/issues/178.

[emijah]

I've tried generating the IK using ikfast recently, but it was unsuccessful. So I'm posting here. I used the main.dae model distributed in nextage_description with the following command.

/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py --robot=/opt/ros/hydro/share/nextage_description/models/main.dae --iktype=transform6d --baselink=1 --eelink=9 --savefile=nextage-right.cpp

The output from this was

/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::multi_array<float, 1ul, std::allocator<float> > already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::multi_array<float, 2ul, std::allocator<float> > already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::multi_array<float, 3ul, std::allocator<float> > already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::multi_array<double, 1ul, std::allocator<double> > already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::multi_array<double, 2ul, std::allocator<double> > already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::multi_array<double, 3ul, std::allocator<double> > already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::multi_array<int, 1ul, std::allocator<int> > already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::multi_array<int, 2ul, std::allocator<int> > already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyVoidHandle already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyVoidHandle> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::openrave_exception already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for std::runtime_error already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::bad_function_call already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyEnvironmentBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyEnvironmentBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyInterfaceBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyInterfaceBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::EnvironmentBase::SelectionOptions already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::DummyStruct already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::OpenRAVEErrorCode already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::DebugLevel already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::SerializationOptions already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::InterfaceType already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::CloningOptions already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::PhysicsEngineOptions already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::IntervalType already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::SampleDataType already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::UserData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<OpenRAVE::UserData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<void> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyGraphHandle already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyGraphHandle> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyUserData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyUserData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySerializableData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySerializableData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyRay already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyRay> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyAABB already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyAABB> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyTriMesh already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyTriMesh> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<OpenRAVE::InterfaceBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyXMLReadable already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyXMLReadable> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyPluginInfo already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyPluginInfo> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyConfigurationSpecification already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyConfigurationSpecification> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::ConfigurationSpecification::Group already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<OpenRAVE::ConfigurationSpecification::Group> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::xmlreaders::PyStaticClass already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::planningutils::PyStaticClass already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::planningutils::PyDHParameter already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::planningutils::PyDHParameter> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::planningutils::PyManipulatorIKGoalSampler already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::planningutils::PyManipulatorIKGoalSampler> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::planningutils::PyActiveDOFTrajectorySmoother already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::planningutils::PyActiveDOFTrajectorySmoother> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::planningutils::PyActiveDOFTrajectoryRetimer already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::planningutils::PyActiveDOFTrajectoryRetimer> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::planningutils::PyAffineTrajectoryRetimer already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::planningutils::PyAffineTrajectoryRetimer> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::CollisionOptions already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::CollisionAction already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyCollisionReport::PYCONTACT already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyCollisionReport::PYCONTACT> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyCollisionReport already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyCollisionReport> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyCollisionCheckerBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyCollisionCheckerBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyControllerBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyControllerBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyMultiControllerBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyMultiControllerBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::IkParameterizationType already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyIkParameterization already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyIkParameterization> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::IkFilterOptions already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::IkReturnAction already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyIkReturn already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyIkReturn> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyIkSolverBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyIkSolverBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::GeometryType already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyElectricMotorActuatorInfo already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyElectricMotorActuatorInfo> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyKinBody already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyKinBody> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::KinBody::SaveParameters already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::KinBody::CheckLimitsAction already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::KinBody::AdjacentOptions already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::KinBody::JointType already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyGeometryInfo already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyGeometryInfo> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyLinkInfo already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyLinkInfo> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyJointInfo already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyJointInfo> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyLink already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyLink> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyLink::PyGeometry already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyLink::PyGeometry> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyJoint already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyJoint> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyKinBodyStateSaver already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyKinBodyStateSaver> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyManageData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyManageData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::DOFAffine already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyRobotBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyRobotBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyRobotBase::PyManipulatorInfo already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyRobotBase::PyManipulatorInfo> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyRobotBase::PyAttachedSensorInfo already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyRobotBase::PyAttachedSensorInfo> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyRobotBase::PyManipulator already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyRobotBase::PyManipulator> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyRobotBase::PyAttachedSensor already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyRobotBase::PyAttachedSensor> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyRobotBase::PyGrabbedInfo already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyRobotBase::PyGrabbedInfo> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyRobotBase::PyRobotStateSaver already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyRobotBase::PyRobotStateSaver> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyModuleBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyModuleBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyPhysicsEngineBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyPhysicsEngineBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::PlannerStatus already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::PlannerAction already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyPlannerProgress already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyPlannerProgress> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyPlannerBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyPlannerBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyPlannerBase::PyPlannerParameters already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyPlannerBase::PyPlannerParameters> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyTrajectoryBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyTrajectoryBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyCameraIntrinsics already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyCameraIntrinsics> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PySensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PySensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PyLaserSensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PyLaserSensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PyCameraSensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PyCameraSensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PyJointEncoderSensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PyJointEncoderSensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PyForce6DSensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PyForce6DSensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PyIMUSensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PyIMUSensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PyOdometrySensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PyOdometrySensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PyTactileSensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PyTactileSensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorBase::PyActuatorSensorData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorBase::PyActuatorSensorData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::SensorBase::ActuatorSensorData::ActuatorState already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::SensorBase::SensorType already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for OpenRAVE::SensorBase::ConfigureCommand already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorGeometry> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyCameraGeomData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyCameraGeomData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyLaserGeomData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyLaserGeomData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyJointEncoderGeomData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyJointEncoderGeomData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyForce6DGeomData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyForce6DGeomData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyIMUGeomData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyIMUGeomData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyOdometryGeomData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyOdometryGeomData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyTactileGeomData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyTactileGeomData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyActuatorGeomData already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyActuatorGeomData> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySensorSystemBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySensorSystemBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PySpaceSamplerBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PySpaceSamplerBase> already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for openravepy::PyViewerBase already registered; second conversion method ignored.
  import openravepy_int
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py:17: RuntimeWarning: to-Python converter for boost::shared_ptr<openravepy::PyViewerBase> already registered; second conversion method ignored.
  import openravepy_int
[plugindatabase.h:395 Init] /usr/local/share/openrave-0.9/plugins doesn't exist
[libopenrave.cpp:770 _UpdateDataDirs] /usr/local/share/openrave-0.9 doesn't exist
[plugindatabase.h:577 Create] Failed to create name ode, interface collisionchecker
[plugindatabase.h:577 Create] Failed to create name bullet, interface collisionchecker
[plugindatabase.h:577 Create] Failed to create name pqp, interface collisionchecker
[colladareader.cpp:3557 handleWarning] COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.
[colladareader.cpp:3712 _ExtractKinematicsVisualBindings] Target Node 'visual1/node_joint0_axis0' not found
[plugindatabase.h:577 Create] Failed to create name base_pinhole_camera, interface sensor
[plugindatabase.h:577 Create] Failed to create name base_pinhole_camera, interface sensor
[colladareader.cpp:4056 _getJointFromRef] failed to find joint target 'kmodel1/jointsid1000' in _mapJointSids
[colladareader.cpp:4061 _getJointFromRef] could not find openrave joint 'WAIST'!
[colladareader.cpp:2986 ExtractRobotAttachedActuators] failed to find joint kmodel1/jointsid1000 in actuator WAIST
[plugindatabase.h:577 Create] Failed to create name IdealController, interface controller
/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py:1437: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
INFO: moved translation Matrix([[0, 0, -47/1000]]) to right end
INFO: moved translation Matrix([[0, 0, 0]]) to left end
INFO: moved translation on intersecting axis Matrix([[0, 0, -47/200]]) to left
INFO: [[1, 0, 0, 0],[0, 625000000*sqrt(418671027066409361)/418671027066409361, -167469481*sqrt(418671027066409361)/418671027066409361, -29/200],[0, 167469481*sqrt(418671027066409361)/418671027066409361, 625000000*sqrt(418671027066409361)/418671027066409361, 46287/125000]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 1, 0, 1/4],[0, 0, 1, -19/200]]
INFO: [[cos(j5), -sin(j5), 0, 0],[sin(j5), cos(j5), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, -3/100],[0, 0, -1, 47/200],[0, 1, 0, 0]]
INFO: [[cos(j6), -sin(j6), 0, 0],[sin(j6), cos(j6), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
INFO: [[cos(j7), -sin(j7), 0, 0],[sin(j7), cos(j7), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, 1, 0],[1, 0, 0, 9/100],[0, 1, 0, 0]]
INFO: [[cos(j8), -sin(j8), 0, 0],[sin(j8), cos(j8), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, -47/1000]]
INFO: ikfast 6d: [j3, j4, j5, j6, j7, j8]
INFO: found 3 consecutive non-intersecting axes links[2:7], vars=[j4, j5, j6]
INFO: found 3 consecutive non-intersecting axes links[0:5], vars=[j3, j4, j5]
INFO: found 3 consecutive non-intersecting axes links[4:9], vars=[j5, j6, j7]
INFO: found 3 consecutive non-intersecting axes links[6:11], vars=[j6, j7, j8]
INFO: try group 0/4
INFO: computed in 6.128530s
INFO: computed in 7.368438s
INFO: attempting li/woernle/hiller general ik method
INFO: allowed indices: [4]
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-2*cj4*sj5*htj6 - 2*sj4*cj5*htj6, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly(-r21*cj8*htj6**2 - r21*cj8 - r20*sj8*htj6**2 - r20*sj8, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r20,r21]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(cj4*cj5 - sj4*sj5, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly(-r20*cj7*cj8 + r21*cj7*sj8 - r22*sj7, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r20,r21,r22]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-htj6**2, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly((cj3*r11 - r01*sj3)*cj8*htj6**2 + (cj3*r11 - r01*sj3)*cj8 + (cj3*r10 - r00*sj3)*sj8*htj6**2 + (cj3*r10 - r00*sj3)*sj8 - 1, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r00,r01,r10,r11,cj3,sj3]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-cj4*sj5*htj6**2 + cj4*sj5 - sj4*cj5*htj6**2 + sj4*cj5, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly(-r22*cj7*htj6**2 - r22*cj7 + r20*sj7*cj8*htj6**2 + r20*sj7*cj8 - r21*sj7*sj8*htj6**2 - r21*sj7*sj8, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r20,r21,r22]'))
INFO: assuming equation htj6 is non-zero
INFO: factors 1 reduced not unique: cj3*py + cj8*(-9*cj3*r10/100 + 9*r00*sj3/100) - px*sj3 + sj8*(9*cj3*r11/100 - 9*r01*sj3/100) + 19/200
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(47/200*cj4*cj5 - 3/100*cj4*sj5 + 1/4*cj4 - 3/100*sj4*cj5 - 47/200*sj4*sj5, cj4, sj4, cj5, sj5, htj6, domain='QQ'), Poly(9*r20/100*cj8 - 9*r21/100*sj8 - pz, cj7, sj7, cj8, sj8, htj6, domain='QQ[r20,r21,pz]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-2*cj4*cj5*htj6 + 2*sj4*sj5*htj6, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly((cj3*r01 + r11*sj3)*cj8*htj6**2 + (cj3*r01 + r11*sj3)*cj8 + (cj3*r00 + r10*sj3)*sj8*htj6**2 + (cj3*r00 + r10*sj3)*sj8, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r00,r01,r10,r11,cj3,sj3]'))
INFO: assuming equation htj6 is non-zero
INFO: factors 1 reduced not unique: cj7*cj8*(cj3*r10 - r00*sj3) + cj7*sj8*(-cj3*r11 + r01*sj3) + sj7*(cj3*r12 - r02*sj3)
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-cj4*sj5 - sj4*cj5, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly((cj3*r00 + r10*sj3)*cj7*cj8 + (-cj3*r01 - r11*sj3)*cj7*sj8 + (cj3*r02 + r12*sj3)*sj7, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r00,r01,r02,r10,r11,r12,cj3,sj3]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-cj4*cj5*htj6**2 + cj4*cj5 + sj4*sj5*htj6**2 - sj4*sj5, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly((cj3*r02 + r12*sj3)*cj7*htj6**2 + (cj3*r02 + r12*sj3)*cj7 + (-cj3*r00 - r10*sj3)*sj7*cj8*htj6**2 + (-cj3*r00 - r10*sj3)*sj7*cj8 + (cj3*r01 + r11*sj3)*sj7*sj8*htj6**2 + (cj3*r01 + r11*sj3)*sj7*sj8, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r00,r01,r02,r10,r11,r12,cj3,sj3]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-3/100*cj4*cj5 - 47/200*cj4*sj5 - 47/200*sj4*cj5 + 3/100*sj4*sj5 - 1/4*sj4, cj4, sj4, cj5, sj5, htj6, domain='QQ'), Poly((-9*cj3*r00/100 - 9*r10*sj3/100)*cj8 + (9*cj3*r01/100 + 9*r11*sj3/100)*sj8 + cj3*px + py*sj3, cj7, sj7, cj8, sj8, htj6, domain='QQ[r00,r01,r10,r11,cj3,px,py,sj3]'))
INFO: not unique: [Poly(cj4*cj5 - sj4*sj5, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly(-r20*cj7*cj8 + r21*cj7*sj8 - r22*sj7, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r20,r21,r22]')]
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(cj4*cj5 - sj4*sj5, cj4, sj4, cj5, sj5, htj6, domain='ZZ'), Poly(-r20*cj7*cj8 + r21*cj7*sj8 - r22*sj7, cj7, sj7, cj8, sj8, htj6, domain='ZZ[r20,r21,r22]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-1/4*cj5, cj4, sj4, cj5, sj5, htj6, domain='QQ'), Poly(-npx*cj7*cj8 + npy*cj7*sj8 + 9/100*cj7 - npz*sj7 + 47/200, cj7, sj7, cj8, sj8, htj6, domain='QQ[npx,npy,npz]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-19/200*cj4*sj5 - 19/200*sj4*cj5, cj4, sj4, cj5, sj5, htj6, domain='QQ'), Poly(-rxp0_2*cj7*cj8 + rxp1_2*cj7*sj8 + 9*r21/100*sj7*cj8 + 9*r20/100*sj7*sj8 - rxp2_2*sj7, cj7, sj7, cj8, sj8, htj6, domain='QQ[r20,r21,rxp0_2,rxp1_2,rxp2_2]'))
INFO: not unique: [Poly(-47/200*cj4*cj5 + 3/100*cj4*sj5 - 1/4*cj4 + 3/100*sj4*cj5 + 47/200*sj4*sj5, cj4, sj4, cj5, sj5, htj6, domain='QQ'), Poly(-9*r20/100*cj8 + 9*r21/100*sj8 + pz, cj7, sj7, cj8, sj8, htj6, domain='QQ[r20,r21,pz]')]
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-47/200*cj4*cj5 + 3/100*cj4*sj5 - 1/4*cj4 + 3/100*sj4*cj5 + 47/200*sj4*sj5, cj4, sj4, cj5, sj5, htj6, domain='QQ'), Poly(-9*r20/100*cj8 + 9*r21/100*sj8 + pz, cj7, sj7, cj8, sj8, htj6, domain='QQ[r20,r21,pz]'))
INFO: assuming equation htj6 is non-zero
INFO: not unique: (Poly(-539/5000*cj4*cj5 + 141/10000*cj4*sj5 - 47/400*cj4 + 141/10000*sj4*cj5 - 43/2500*sj4*sj5 + 3/200*sj4, cj4, sj4, cj5, sj5, htj6, domain='QQ'), Poly((2*npx*pz - pp*r20 + 81*r20/10000)*cj7*cj8 + (-2*npy*pz + pp*r21 - 81*r21/10000)*cj7*sj8 - 9*pz/50*cj7 - 9*rxp1_2/50*sj7*cj8 - 9*rxp0_2/50*sj7*sj8 + (2*npz*pz - pp*r22 - 81*r22/10000)*sj7, cj7, sj7, cj8, sj8, htj6, domain='QQ[r20,r21,r22,npx,npy,npz,pp,pz,rxp0_2,rxp1_2]'))
Traceback (most recent call last):
  File "/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 9206, in <module>
    chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
  File "/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2257, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2911, in solveFullIK_6D
    tree = self.solveFullIK_6DGeneral(T0links, T1links, solvejointvars, endbranchtree, usesolvers=1)
  File "/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 3213, in solveFullIK_6DGeneral
    coupledsolutions,usedvars = solvemethod(rawpolyeqs,solvejointvars,endbranchtree=endbranchtree,AllEquationsExtra=AllEquationsExtra)
  File "/opt/openrave/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 4667, in solveLiWoernleHiller
    A = zeros((len(neweqs_test),len(allmonoms)))
  File "/usr/local/lib/python2.7/dist-packages/sympy/matrices/dense.py", line 1229, in zeros
    return cls.zeros(r, c)
  File "/usr/local/lib/python2.7/dist-packages/sympy/matrices/dense.py", line 513, in zeros
    r = as_int(r)
  File "/usr/local/lib/python2.7/dist-packages/sympy/core/compatibility.py", line 389, in as_int
    raise ValueError('%s is not an integer' % n)
TypeError: not all arguments converted during string formatting

[emijah]

よく見るとsympyの問題でしたので、インタフェースを合わせて現在計算中です。

[130s]

I saw a possibly relevant PR https://github.com/rdiankov/openrave/pull/351 so the issue might be already addressed. But just wondering; have you tried also on Ubuntu 14.04 with ROS Indigo?

[emijah]

Actually, I just send that pull request. However, the IK itself is taking ages to put together so there may be another problem.

[emijah]

I've emailed Rosen and he says that some restraints he added recently may be the culprit. He's working on it in his spare time.

[markusgft]

Hi all, are there by any chance any news on this issue?

[k-okada]

see #187, please check if that works.

[emijah]

@markusgft I've tested the newest code in the "production" line and it seems to be working.

[130s]

Addressed by #187. Please not hesitate to reopen if this issue remains.