pr2 Pick and Place Demo IK error (diamondback)
I am trying to run the pr2_pick_and_place_demo on our PR2 (running diamondback). Most of the time I can get it to locate the object, grab it, and lift its arm, but then it stops. The error it throws is a "tuple index out of range" error. In the manipulation stack it throws the IK error code NO_IK_SOLUTION. Has anyone experienced this problem? Does anyone have a good solution?
Full Error Information
Traceback (most recent call last):
File "/usr/lib/python2.6/threading.py", line 532, in __bootstrap_inner
self.run()
File "/usr/lib/python2.6/threading.py", line 484, in run
self.__target(*self.__args, **self.__kwargs)
File df"/opt/ros/diamondback/stacks/pr2_tabletop_manipulation_apps/pr2_pick_and_place_demos/src/pr2_pick_and_place_demos/pick_and_place_demo.py", line 300, in run_demo
result = self.move_objects_to_other_side()
File "/opt/ros/diamondback/stacks/pr2_tabletop_manipulation_apps/pr2_pick_and_place_demos/src/pr2_pick_and_place_demos/pick_and_place_demo.py", line 149, in move_objects_to_other_side
(result, arm_used) = self.detect_and_pick_up_object(head_point, arms_to_try = arms_to_try, constrained = self.constrained)
File "/opt/ros/diamondback/stacks/pr2_tabletop_manipulation_apps/pr2_pick_and_place_demos/src/pr2_pick_and_place_demos/pick_and_place_manager.py", line 1614, in detect_and_pick_up_object
(success, arm_used) = self.pick_up_nearest_object(arms_to_try = arms_to_try)
File "/opt/ros/diamondback/stacks/pr2_tabletop_manipulation_apps/pr2_pick_and_place_demos/src/pr2_pick_and_place_demos/pick_and_place_manager.py", line 1447, in pick_up_nearest_object
(result, arm_used) = self.grasp_object_and_check_success(object_to_grasp, whicharm)
File "/opt/ros/diamondback/stacks/pr2_tabletop_manipulation_apps/pr2_pick_and_place_demos/src/pr2_pick_and_place_demos/pick_and_place_manager.py", line 1326, in grasp_object_and_check_success
self.move_arm_to_side(arm_used, try_constrained = 1)
File "/opt/ros/diamondback/stacks/pr2_tabletop_manipulation_apps/pr2_pick_and_place_demos/src/pr2_pick_and_place_demos/pick_and_place_manager.py", line 1664, in move_arm_to_side
result = self.try_to_move_constrained(whicharm,constraint,3,start_angles,location)
File "/opt/ros/diamondback/stacks/pr2_tabletop_manipulation_apps/pr2_pick_and_place_demos/src/pr2_pick_and_place_demos/pick_and_place_manager.py", line 1633, in try_to_move_constrained
error_code = self.cms[whicharm].move_arm_constrained(constraint, start_angles, location)
File "/opt/ros/diamondback/stacks/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py", line 599, in move_arm_constrained
joint_constraint.position = solution[2]
IndexError: tuple index out of range
