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openrave-motion-planner's Introduction

OpenRAVE motion planner for dVRK

This repository contains a motion planner for a model dVRK using OMPL and Trajopt The dVRK robot model and obstacles are found in the env.xml file

Motion planning is done on a single arm which can be controlled by setting the manip parameter to either "left_arm" or "right_arm" We can define the joint angles for each arm by setting the 3DOF values of "joint_start1" and "joint_start2" The robot then plans from its starting joint DOF to the target joint DOF

The script IK.py contains the IK and FK analytical solutions for each arm of the robot.

To launch the planner:

$ python raveInterface.py

openrave-motion-planner's People

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openrave-motion-planner's Issues

'NoneType' object has no attribute 'PlannerParameters'

when I run

python raveInterface.py

You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
2019-03-29 12:53:02,375 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link dvrk/dummy0 with 0 geometries (env 1) (userdatakey fclcollision0x2903550)
2019-03-29 12:53:02,375 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link dvrk/dummy1 with 0 geometries (env 1) (userdatakey fclcollision0x2903550)
2019-03-29 12:53:02,375 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link dvrk/dummy0 with 0 geometries (env 1) (userdatakey fclcollision0x2903550)
2019-03-29 12:53:02,375 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link dvrk/dummy1 with 0 geometries (env 1) (userdatakey fclcollision0x2903550)
2019-03-29 12:53:02,534 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name OMPL_RRTConnect, interface planner
2019-03-29 12:53:02,534 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name OMPL_Simplifier, interface planner
Traceback (most recent call last):
File "raveInterface.py", line 312, in
planner.optimize(manip, joint_target, algorithm="RRTConnect")
File "raveInterface.py", line 192, in optimize
trajectory = self._init_traj(manip=manip, joint_target=joint_target, algorithm=algorithm) # Performs initial OMPL*** planning
File "raveInterface.py", line 254, in __init_traj
params = planner.PlannerParameters() # Creates an empty param to be filled
AttributeError: 'NoneType' object has no attribute 'PlannerParameters'
Segmentation fault (core dumped)

Kindly please help me how to solve this error

'NoneType' object has no attribute 'InitPlan'

I am tried launching the planner by following command
python raveinterface,py

I get following error:
Traceback (most recent call last):
File "raveInterface.py", line 319, in
planner.optimize(manip, joint_target, algorithm="RRTConnect")
File "raveInterface.py", line 192, in optimize
trajectory = self._init_traj(manip=manip, joint_target=joint_target, algorithm=algorithm) # Performs initial OMPL*** planning
File "raveInterface.py", line 272, in __init_traj
planner.InitPlan(self.get_robot(), params)

Kindly suggest me to solve the error.

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