How to install openrave?

asked 2016-09-09 06:12:02 -0600

Sietse gravatar image

updated 2016-09-12 07:23:09 -0600

Hello List,

I am trying to use ikfast from openrave but after creating a dae file from my urdf file I try to generate the ikfast file:

 python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=smart_arm_robot_rounded.dae ....

But I now get the error:

Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 9467, in <module>
    import openravepy
ImportError: No module named openravepy

I installed ros-indigo-openrave to get openrave. Why doesn't it find this package?

UPDATE: As suggested I will install openrave separately, and report back if that succeeds.

2-nd UPDATE: I installed openrave from source. The openrave.py examples work, but my .dae file still doesn't work. The output now ends in:

INFO: reducing 3 equations
Traceback (most recent call last):
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 9521, in <module>
    chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2281, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2796, in solveFullIK_TranslationDirection5D
    coupledsolutions,usedvars = solvemethod(rawpolyeqs2[index],newsolvejointvars,endbranchtree=[AST.SolverSequence([endbranchtree2])], AllEquationsExtra=AllEquations)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 5226, in solveLiWoernleHiller
    hassinglevariable |= any([all([__builtin__.sum(monom)==monom[i] for monom in newpeq.monoms()]) for i in range(3)])
IndexError: tuple index out of range

Please also see my posting to the openrave mailinglist of half a year ago.

Struggling to get ikfast to work

Thanks, Sietse

PS. I've seen it working on a previous ubuntu 14.04/indigo install, but I had to reinstall the PC.

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Comments

Sorry for the makeup. The "enter code" just doesn't work:(.

Sietse gravatar imageSietse ( 2016-09-09 06:15:51 -0600 )edit

I'm pretty sure that ros-indigo-openrave is not a complete (enough) OpenRAVE installation. So it's missing certain modules, most importantly openravepy. I think you'll have to install OpenRAVE normally, before you start working with IKFast.

gvdhoorn gravatar imagegvdhoorn ( 2016-09-09 06:39:44 -0600 )edit

Also: may I suggest a title change? Your problem seems to be more with getting a decent installation of OpenRAVE, than a real issue with IKFast. Technically you haven't run IKFast yet, so it's not so much a problem with IKFast that you're asking about, as well as "how do I install OpenRAVE".

gvdhoorn gravatar imagegvdhoorn ( 2016-09-09 06:41:24 -0600 )edit

And: not really an answer, but if you're comfortable with Docker, PersonalRobotics has a ros-openrave image available (note: that is not related to ros-indigo-openrave in any way. Naming is coincidental).

gvdhoorn gravatar imagegvdhoorn ( 2016-09-09 06:44:16 -0600 )edit