Revision history [back]

When I try to move the Arm using Python code, I get the following output

============ Starting tutorial ============ Reference frame: /base_rotary

============ Robot Groups:

['base_arm', 'claws']

============ Printing robot state

joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base_rotary" name: [base_rotary3, rotary_biceps, biceps_forearm, Forearm_wrist, wrist_rotary_claw, claw_gripper_1, claw_gripper_2, link_claws] position: [-0.9492579224650748, 0.23973554670321753, 0.9810336592943874, 0.20257978661255913, 0.3314634015831165, 0.0, 0.0, 0.0] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base_rotary" joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False

============

============ Waiting while RVIZ displays plan3...

And Rviz gives the following Output

planning and execution pipeline.

configuration parameters will be set when the planner is constructed.

When I try to move the Arm using Python code, I get the following output

============ Starting tutorial ============ Reference frame: /base_rotary

============ Robot Groups:

['base_arm', 'claws']

============ Printing robot state

joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base_rotary" name: [base_rotary3, rotary_biceps, biceps_forearm, Forearm_wrist, wrist_rotary_claw, claw_gripper_1, claw_gripper_2, link_claws] position: [-0.9492579224650748, 0.23973554670321753, 0.9810336592943874, 0.20257978661255913, 0.3314634015831165, 0.0, 0.0, 0.0] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base_rotary" joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False

============

============ Waiting while RVIZ displays plan3...

And Rviz gives the following Output

planning and execution pipeline.

configuration parameters will be set when the planner is constructed.

When I try to move the Arm using Python code, I get the following output

============ Starting tutorial [ INFO] : Loading robot model 'pi_robot'...

[ INFO] : Loading robot model 'pi_robot'...

[ INFO] : Ready to take commands for planning group base_arm.

============ Reference frame: /base_rotary

============ Robot Groups:

['base_arm', 'claws']

============ Printing robot state

joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base_rotary" name: [base_rotary3, rotary_biceps, biceps_forearm, Forearm_wrist, wrist_rotary_claw, claw_gripper_1, claw_gripper_2, link_claws] position: [-0.9492579224650748, 0.23973554670321753, 0.9810336592943874, 0.20257978661255913, 0.3314634015831165, 0.0, 0.0, 0.0] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base_rotary" joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False

============

============ Waiting while RVIZ displays plan3...

And Rviz gives the following Output

planning and execution pipeline.

[ INFO] : Planner configuration 'base_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

When I try to move the Arm using Python code, I get the following output

============ Starting tutorial [ INFO] : Loading robot model 'pi_robot'...

[ INFO] : Loading robot model 'pi_robot'...

[ INFO] : Ready to take commands for planning group base_arm.

============ Reference frame: /base_rotary

============ Robot Groups:

['base_arm', 'claws']

============ Printing robot state

joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base_rotary" name: [base_rotary3, rotary_biceps, biceps_forearm, Forearm_wrist, wrist_rotary_claw, claw_gripper_1, claw_gripper_2, link_claws] position: [-0.9492579224650748, 0.23973554670321753, 0.9810336592943874, 0.20257978661255913, 0.3314634015831165, 0.0, 0.0, 0.0] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base_rotary" joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False

============

============ Waiting while RVIZ displays plan3...

And Rviz gives the following Output

[ INFO] : Planner configuration 'base_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

[ INFO] : RRTConnect: Starting planning with 1 states already in datastructure

[ERROR] : RRTConnect: Unable to sample any valid states for goal tree

[ INFO] : RRTConnect: Created 1 states (1 start + 0 goal)

[ INFO] : No solution found after 5.004745 seconds

[ INFO] : Unable to solve the planning problem

[ INFO] : Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.

[ INFO] : Planning attempt 1 of at most 1

[ INFO] : Planner configuration 'base_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.