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Fake arm to pick

asked 2015-04-08 09:11:43 -0500

doublexwang1211 gravatar image

Dear all

Now I am using Moveit to try Pick-and-Place using fake arm (in attached file) . when I rosrun the attached file (pick_and_place. py). MOVEIT give me the following information:

[ WARN] [1428442734.449159346]: MessageFilter [target=/odom ]: Discarding message from [/moveit_demo] due to empty frame_id.  This message will only print once.
[ERROR] [1428442734.449930138]: Attached body 'target' not found
[ INFO] [1428442735.452340991]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1428442735.452665160]: Planning attempt 1 of at most 5
[ INFO] [1428442735.457061870]: No planner specified. Using default.
[ INFO] [1428442735.457674031]: RRTConnect: Starting with 1 states
[ INFO] [1428442735.469498841]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1428442735.469675346]: Solution found in 0.012174 seconds
[ INFO] [1428442735.470080088]: Path simplification took 0.000285 seconds

[ INFO] [1428442754.837308738]: Planning attempt 5 of at most 5
[ INFO] [1428442754.837772713]: Added plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1428442754.837923277]: Added plan for pipeline 'pick'. Queue is now of size 2
[ INFO] [1428442754.838019965]: Added plan for pipeline 'pick'. Queue is now of size 2
[ INFO] [1428442754.838095313]: Added plan for pipeline 'pick'. Queue is now of size 3
[ INFO] [1428442754.838154730]: Added plan for pipeline 'pick'. Queue is now of size 4
[ INFO] [1428442754.838219788]: Added plan for pipeline 'pick'. Queue is now of size 5
[ INFO] [1428442754.838310542]: Added plan for pipeline 'pick'. Queue is now of size 6
[ INFO] [1428442754.999287813]: Manipulation plan 0 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1428442755.002306396]: Manipulation plan 2 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1428442755.010113422]: Manipulation plan 1 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1428442755.022239977]: Manipulation plan 3 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1428442755.166828630]: Manipulation plan 4 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1428442755.167803550]: Manipulation plan 5 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1428442755.172000208]: Manipulation plan 6 failed at stage 'reachable & valid pose filter' on thread 1
[ WARN] [1428442755.172278129]: All supplied grasps failed. Retrying last grasp in verbose mode.
[ INFO] [1428442755.172551829]: Re-added last failed plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1428442755.225552908]: IK failed
[ INFO] [1428442755.277540833]: IK failed
[ INFO] [1428442755.329368118]: IK failed
[ INFO] [1428442755.329441308]: Sampler failed to produce a state
[ INFO] [1428442755.329486707]: Manipulation plan 6 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1428442755.329757781]: Pickup planning completed after 0.334797 seconds
[ INFO] [1428442755.534634011]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1428442755.534910127]: Planning attempt 1 of at most 5
[ INFO] [1428442755.537382476]: RRTConnect: Starting with 1 states
[ INFO] [1428442755.549514291]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1428442755.549609875]: Solution found in 0.012579 seconds
[ INFO] [1428442755.549708587]: Path simplification took 0.000012 seconds
[ INFO] [1428442755.752946000]: Combined planning ...
(more)
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You already asked this at the proper place (the moveit-users group). Please don't cross-post.

Martin Günther gravatar image Martin Günther  ( 2015-04-09 05:19:27 -0500 )edit

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answered 2015-04-08 23:46:07 -0500

Have you tried this configuration and motion plan using the MoveIt GUI (in rviz)? That may help determine why IK is saying the pose is unreachable. It's easy to flip a sign on the end-effector orientation, in particular, which would cause the wrist to have to go the wrong direction and thereby cause the workspace to be much smaller. Visualizing the poses in the MoveIt GUI often makes it much easier to see what's happening with IK, since you can drag the end-effector around interactively.

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have you solved the problem ? i have the same questions

dubao996 gravatar image dubao996  ( 2020-12-16 07:10:42 -0500 )edit

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Asked: 2015-04-08 09:11:43 -0500

Seen: 501 times

Last updated: Dec 16 '20