API tools faq
paste
Guest User

Untitled

a guest
Feb 2nd, 2021
90
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
Bash 21.52 KB | None | 0 0
raw download clone embed print report
  1. root@3b2a99fa0757:/robotarm_ws/src/robotarm_description/dae# python /usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py --robot=belt_robot.dae --iktype=transform6d --baselink=0 --eelink=6 --savefile=/robotarm_ws/src/robotarm_description/dae/ikfast61_belt_robot.cpp
  2. 2021-02-02 07:06:33,111 openrave [WARN] [colladareader.cpp:2440 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
  3. 2021-02-02 07:06:33,188 openrave [WARN] [kinbody.cpp:1855 KinBody::SetDOFValues] env=1, dof 1 value 0.000000e+00 is smaller than the lower limit 4.700000e+00
  4. 2021-02-02 07:06:33,188 openrave [WARN] [kinbody.cpp:1866 KinBody::SetDOFValues] env=1, dof 2 value 0.000000e+00 is greater than the upper limit -5.000000e-01
  5. INFO: moved translation [0, 0, 0] to right end
  6. INFO: moved translation [0, 0, 37/500] to left end
  7. INFO: moved translation on intersecting axis [0, 0, 0] to left
  8. INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 13/100]]
  9. INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
  10. INFO: [[0, 0, 1, 0],[0, 1, 0, 0],[-1, 0, 0, 0]]
  11. INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
  12. INFO: [[1, 0, 0, -3/25],[0, 1, 0, 0],[0, 0, 1, 0]]
  13. INFO: [[cos(1.0*j1), sin(1.0*j1), 0, 0],[-sin(1.0*j1), cos(1.0*j1), 0, 0],[0, 0, 1, 0]]
  14. INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 0]]
  15. INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
  16. INFO: [[1, 0, 0, 0],[0, 1, 0, 3/25],[0, 0, 1, 0]]
  17. INFO: [[cos(1.0*j2), sin(1.0*j2), 0, 0],[-sin(1.0*j2), cos(1.0*j2), 0, 0],[0, 0, 1, 0]]
  18. INFO: [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]]
  19. INFO: [[1, 0, 0, j3],[0, 1, 0, 0],[0, 0, 1, 0]]
  20. INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 0]]
  21. INFO: ikfast 6d: [j0, j1, j2, j3]
  22. INFO: found 3 consecutive intersecting axes links[8:9], rotvars=[j2], translationvars=[j0, j1, j3]
  23. INFO: depth=0 c=1, [] [j0, j1, j3]: cases=None
  24. WARNING: CannotSolveError: SolveAllEquations failed to find a variable to solve
  25. INFO: found 3 consecutive intersecting axes links[6:7], rotvars=[j2], translationvars=[j0, j1, j3]
  26. INFO: depth=0 c=2, [] [j0, j1, j3]: cases=None
  27. INFO: depth=0 c=4, [j3] [j0, j1]: cases=None
  28. INFO: adding atan2(j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25, j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25) = Abs(j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25) + Abs(j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25) all zeros check
  29. INFO: adding atan2(j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25, j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25) = Abs(j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25) + Abs(j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25) all zeros check
  30. INFO: adding atan2(j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25, j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25) = Abs(j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25) + Abs(j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25) all zeros check
  31. INFO: adding atan2(j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25, j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25) = Abs(j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25) + Abs(j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25) all zeros check
  32. INFO: depth=0 c=6, [j3, j1] [j0]: cases=None
  33. INFO: j0 solution: equations used for atan2: [j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25 + 3*sj1*sin(j0)/25, j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25 - 3*sj1*cos(j0)/25, j3*r00*cos(j0) + j3*r10*sin(j0) - px*cos(j0) - py*sin(j0) + 3*r01*cos(j0)*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)*cos(j0)/25 + 3*r11*sin(j0)*cos(1.0*j2)/25 + 3*r12*sin(j0)*sin(1.0*j2)/25, -cj1*j3*r00*sin(j0) + cj1*j3*r10*cos(j0) + cj1*px*sin(j0) - cj1*py*cos(j0) - 3*cj1*r01*sin(j0)*cos(1.0*j2)/25 - 3*cj1*r02*sin(j0)*sin(1.0*j2)/25 + 3*cj1*r11*cos(j0)*cos(1.0*j2)/25 + 3*cj1*r12*sin(1.0*j2)*cos(j0)/25 + j3*r20*sj1 - pz*sj1 + 3*r21*sj1*cos(1.0*j2)/25 + 3*r22*sj1*sin(1.0*j2)/25, -cj1*j3*r20 + cj1*pz - 3*cj1*r21*cos(1.0*j2)/25 - 3*cj1*r22*sin(1.0*j2)/25 - j3*r00*sj1*sin(j0) + j3*r10*sj1*cos(j0) + px*sj1*sin(j0) - py*sj1*cos(j0) - 3*r01*sj1*sin(j0)*cos(1.0*j2)/25 - 3*r02*sj1*sin(j0)*sin(1.0*j2)/25 + 3*r11*sj1*cos(j0)*cos(1.0*j2)/25 + 3*r12*sj1*sin(1.0*j2)*cos(j0)/25 - 3/25]
  34. INFO: adding atan2(-25*j3*r00 + 25*px - 3*r01*cos(1.0*j2) - 3*r02*sin(1.0*j2), 25*j3*r10 - 25*py + 3*r11*cos(1.0*j2) + 3*r12*sin(1.0*j2)) = Abs(-25*j3*r00 + 25*px - 3*r01*cos(1.0*j2) - 3*r02*sin(1.0*j2)) + Abs(25*j3*r10 - 25*py + 3*r11*cos(1.0*j2) + 3*r12*sin(1.0*j2)) all zeros check
  35. INFO: j0 solution: equations used for atan2: [j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25 + 3*sj1*sin(j0)/25, j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25 - 3*sj1*cos(j0)/25, j3*r00*cos(j0) + j3*r10*sin(j0) - px*cos(j0) - py*sin(j0) + 3*r01*cos(j0)*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)*cos(j0)/25 + 3*r11*sin(j0)*cos(1.0*j2)/25 + 3*r12*sin(j0)*sin(1.0*j2)/25, -cj1*j3*r00*sin(j0) + cj1*j3*r10*cos(j0) + cj1*px*sin(j0) - cj1*py*cos(j0) - 3*cj1*r01*sin(j0)*cos(1.0*j2)/25 - 3*cj1*r02*sin(j0)*sin(1.0*j2)/25 + 3*cj1*r11*cos(j0)*cos(1.0*j2)/25 + 3*cj1*r12*sin(1.0*j2)*cos(j0)/25 + j3*r20*sj1 - pz*sj1 + 3*r21*sj1*cos(1.0*j2)/25 + 3*r22*sj1*sin(1.0*j2)/25, -cj1*j3*r20 + cj1*pz - 3*cj1*r21*cos(1.0*j2)/25 - 3*cj1*r22*sin(1.0*j2)/25 - j3*r00*sj1*sin(j0) + j3*r10*sj1*cos(j0) + px*sj1*sin(j0) - py*sj1*cos(j0) - 3*r01*sj1*sin(j0)*cos(1.0*j2)/25 - 3*r02*sj1*sin(j0)*sin(1.0*j2)/25 + 3*r11*sj1*cos(j0)*cos(1.0*j2)/25 + 3*r12*sj1*sin(1.0*j2)*cos(j0)/25 - 3/25]
  36. INFO: j0 solution: equations used for atan2: [j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25 + 3*sj1*sin(j0)/25, j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25 - 3*sj1*cos(j0)/25, j3*r00*cos(j0) + j3*r10*sin(j0) - px*cos(j0) - py*sin(j0) + 3*r01*cos(j0)*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)*cos(j0)/25 + 3*r11*sin(j0)*cos(1.0*j2)/25 + 3*r12*sin(j0)*sin(1.0*j2)/25, -cj1*j3*r00*sin(j0) + cj1*j3*r10*cos(j0) + cj1*px*sin(j0) - cj1*py*cos(j0) - 3*cj1*r01*sin(j0)*cos(1.0*j2)/25 - 3*cj1*r02*sin(j0)*sin(1.0*j2)/25 + 3*cj1*r11*cos(j0)*cos(1.0*j2)/25 + 3*cj1*r12*sin(1.0*j2)*cos(j0)/25 + j3*r20*sj1 - pz*sj1 + 3*r21*sj1*cos(1.0*j2)/25 + 3*r22*sj1*sin(1.0*j2)/25, -cj1*j3*r20 + cj1*pz - 3*cj1*r21*cos(1.0*j2)/25 - 3*cj1*r22*sin(1.0*j2)/25 - j3*r00*sj1*sin(j0) + j3*r10*sj1*cos(j0) + px*sj1*sin(j0) - py*sj1*cos(j0) - 3*r01*sj1*sin(j0)*cos(1.0*j2)/25 - 3*r02*sj1*sin(j0)*sin(1.0*j2)/25 + 3*r11*sj1*cos(j0)*cos(1.0*j2)/25 + 3*r12*sj1*sin(1.0*j2)*cos(j0)/25 - 3/25]
  37. INFO: j0 solution: equations used for atan2: [j3*r00 - px + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25 + 3*sj1*sin(j0)/25, j3*r10 - py + 3*r11*cos(1.0*j2)/25 + 3*r12*sin(1.0*j2)/25 - 3*sj1*cos(j0)/25, j3*r00*cos(j0) + j3*r10*sin(j0) - px*cos(j0) - py*sin(j0) + 3*r01*cos(j0)*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)*cos(j0)/25 + 3*r11*sin(j0)*cos(1.0*j2)/25 + 3*r12*sin(j0)*sin(1.0*j2)/25, -cj1*j3*r00*sin(j0) + cj1*j3*r10*cos(j0) + cj1*px*sin(j0) - cj1*py*cos(j0) - 3*cj1*r01*sin(j0)*cos(1.0*j2)/25 - 3*cj1*r02*sin(j0)*sin(1.0*j2)/25 + 3*cj1*r11*cos(j0)*cos(1.0*j2)/25 + 3*cj1*r12*sin(1.0*j2)*cos(j0)/25 + j3*r20*sj1 - pz*sj1 + 3*r21*sj1*cos(1.0*j2)/25 + 3*r22*sj1*sin(1.0*j2)/25, -cj1*j3*r20 + cj1*pz - 3*cj1*r21*cos(1.0*j2)/25 - 3*cj1*r22*sin(1.0*j2)/25 - j3*r00*sj1*sin(j0) + j3*r10*sj1*cos(j0) + px*sj1*sin(j0) - py*sj1*cos(j0) - 3*r01*sj1*sin(j0)*cos(1.0*j2)/25 - 3*r02*sj1*sin(j0)*sin(1.0*j2)/25 + 3*r11*sj1*cos(j0)*cos(1.0*j2)/25 + 3*r12*sj1*sin(1.0*j2)*cos(j0)/25 - 3/25]
  38. INFO: adding atan2(-25*j3*r00 + 25*px - 3*r01*cos(1.0*j2) - 3*r02*sin(1.0*j2), 25*j3*r10 - 25*py + 3*r11*cos(1.0*j2) + 3*r12*sin(1.0*j2)) = Abs(-25*j3*r00 + 25*px - 3*r01*cos(1.0*j2) - 3*r02*sin(1.0*j2)) + Abs(25*j3*r10 - 25*py + 3*r11*cos(1.0*j2) + 3*r12*sin(1.0*j2)) all zeros check
  39. INFO: equation -3*r12*sin(1.0*j2)/(25*r10) has rot symbols in denom, so skipping...
  40. INFO: equation px/r00 has rot symbols in denom, so skipping...
  41. WARNING: Unable to solve the equation.
  42. WARNING: Unable to solve the equation.
  43. INFO: depth=0, c=7, iter=0/4, starting newcases: set([Abs(j3 - py/r10 + 0.12*r11*cos(1.0*j2)/r10 + 0.12*r12*sin(1.0*j2)/r10)])
  44. INFO: depth=1 c=8, [j3, j1] [j0]: cases=set([Abs(j3 - py/r10 + 0.12*r11*cos(1.0*j2)/r10 + 0.12*r12*sin(1.0*j2)/r10)])
  45. INFO: equation 3*r00*r11*cos(j2)/r10 has rot symbols in denom, so skipping...
  46. INFO: j0 solution: equations used for atan2: [3*r11*cos(1.0*j2)/25 - 3*r11*cos(j2)/25 - 3*r12*sin(j2)/25 + 3*r12*sin(1.0*j2)/25 - 3*sj1*cos(j0)/25, -px + py*r00/r10 - 3*r00*r11*cos(j2)/(25*r10) - 3*r00*r12*sin(j2)/(25*r10) + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25 + 3*sj1*sin(j0)/25, -px*cos(j0) + py*r00*cos(j0)/r10 - 3*r00*r11*cos(j0)*cos(j2)/(25*r10) - 3*r00*r12*sin(j2)*cos(j0)/(25*r10) + 3*r01*cos(j0)*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)*cos(j0)/25 + 3*r11*sin(j0)*cos(1.0*j2)/25 - 3*r11*sin(j0)*cos(j2)/25 - 3*r12*sin(j0)*sin(j2)/25 + 3*r12*sin(j0)*sin(1.0*j2)/25, cj1*px*sin(j0) - cj1*py*r00*sin(j0)/r10 + 3*cj1*r00*r11*sin(j0)*cos(j2)/(25*r10) + 3*cj1*r00*r12*sin(j0)*sin(j2)/(25*r10) - 3*cj1*r01*sin(j0)*cos(1.0*j2)/25 - 3*cj1*r02*sin(j0)*sin(1.0*j2)/25 + 3*cj1*r11*cos(j0)*cos(1.0*j2)/25 - 3*cj1*r11*cos(j0)*cos(j2)/25 - 3*cj1*r12*sin(j2)*cos(j0)/25 + 3*cj1*r12*sin(1.0*j2)*cos(j0)/25 + py*r20*sj1/r10 - pz*sj1 + 3*r21*sj1*cos(1.0*j2)/25 + 3*r22*sj1*sin(1.0*j2)/25 - 3*r11*r20*sj1*cos(j2)/(25*r10) - 3*r12*r20*sj1*sin(j2)/(25*r10), -cj1*py*r20/r10 + cj1*pz - 3*cj1*r21*cos(1.0*j2)/25 - 3*cj1*r22*sin(1.0*j2)/25 + 3*cj1*r11*r20*cos(j2)/(25*r10) + 3*cj1*r12*r20*sin(j2)/(25*r10) + px*sj1*sin(j0) - py*r00*sj1*sin(j0)/r10 + 3*r00*r11*sj1*sin(j0)*cos(j2)/(25*r10) + 3*r00*r12*sj1*sin(j0)*sin(j2)/(25*r10) - 3*r01*sj1*sin(j0)*cos(1.0*j2)/25 - 3*r02*sj1*sin(j0)*sin(1.0*j2)/25 + 3*r11*sj1*cos(j0)*cos(1.0*j2)/25 - 3*r11*sj1*cos(j0)*cos(j2)/25 - 3*r12*sj1*sin(j2)*cos(j0)/25 + 3*r12*sj1*sin(1.0*j2)*cos(j0)/25 - 3/25]
  47. INFO: equation -9*r00*r12*sj1*sin(j2)/(25*r10) has rot symbols in denom, so skipping...
  48. INFO: equation 3*r00*r11*cos(j2)/r10 has rot symbols in denom, so skipping...
  49. INFO: equation -9*r00*r11**2*cos(j2)*cos(1.0*j2)/(25*r10) has rot symbols in denom, so skipping...
  50. INFO: j0 solution: equations used for atan2: [3*r11*cos(1.0*j2)/25 - 3*r11*cos(j2)/25 - 3*r12*sin(j2)/25 + 3*r12*sin(1.0*j2)/25 - 3*sj1*cos(j0)/25, -px + py*r00/r10 - 3*r00*r11*cos(j2)/(25*r10) - 3*r00*r12*sin(j2)/(25*r10) + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25 + 3*sj1*sin(j0)/25, -px*cos(j0) + py*r00*cos(j0)/r10 - 3*r00*r11*cos(j0)*cos(j2)/(25*r10) - 3*r00*r12*sin(j2)*cos(j0)/(25*r10) + 3*r01*cos(j0)*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)*cos(j0)/25 + 3*r11*sin(j0)*cos(1.0*j2)/25 - 3*r11*sin(j0)*cos(j2)/25 - 3*r12*sin(j0)*sin(j2)/25 + 3*r12*sin(j0)*sin(1.0*j2)/25, cj1*px*sin(j0) - cj1*py*r00*sin(j0)/r10 + 3*cj1*r00*r11*sin(j0)*cos(j2)/(25*r10) + 3*cj1*r00*r12*sin(j0)*sin(j2)/(25*r10) - 3*cj1*r01*sin(j0)*cos(1.0*j2)/25 - 3*cj1*r02*sin(j0)*sin(1.0*j2)/25 + 3*cj1*r11*cos(j0)*cos(1.0*j2)/25 - 3*cj1*r11*cos(j0)*cos(j2)/25 - 3*cj1*r12*sin(j2)*cos(j0)/25 + 3*cj1*r12*sin(1.0*j2)*cos(j0)/25 + py*r20*sj1/r10 - pz*sj1 + 3*r21*sj1*cos(1.0*j2)/25 + 3*r22*sj1*sin(1.0*j2)/25 - 3*r11*r20*sj1*cos(j2)/(25*r10) - 3*r12*r20*sj1*sin(j2)/(25*r10), -cj1*py*r20/r10 + cj1*pz - 3*cj1*r21*cos(1.0*j2)/25 - 3*cj1*r22*sin(1.0*j2)/25 + 3*cj1*r11*r20*cos(j2)/(25*r10) + 3*cj1*r12*r20*sin(j2)/(25*r10) + px*sj1*sin(j0) - py*r00*sj1*sin(j0)/r10 + 3*r00*r11*sj1*sin(j0)*cos(j2)/(25*r10) + 3*r00*r12*sj1*sin(j0)*sin(j2)/(25*r10) - 3*r01*sj1*sin(j0)*cos(1.0*j2)/25 - 3*r02*sj1*sin(j0)*sin(1.0*j2)/25 + 3*r11*sj1*cos(j0)*cos(1.0*j2)/25 - 3*r11*sj1*cos(j0)*cos(j2)/25 - 3*r12*sj1*sin(j2)*cos(j0)/25 + 3*r12*sj1*sin(1.0*j2)*cos(j0)/25 - 3/25]
  51. INFO: equation -3*cj1*py*r00*sj1/r10 has rot symbols in denom, so skipping...
  52. INFO: equation 9*r12*r20*sin(j2)/(25*r10) has rot symbols in denom, so skipping...
  53. INFO: j0 solution: equations used for atan2: [3*r11*cos(1.0*j2)/25 - 3*r11*cos(j2)/25 - 3*r12*sin(j2)/25 + 3*r12*sin(1.0*j2)/25 - 3*sj1*cos(j0)/25, -px + py*r00/r10 - 3*r00*r11*cos(j2)/(25*r10) - 3*r00*r12*sin(j2)/(25*r10) + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25 + 3*sj1*sin(j0)/25, -px*cos(j0) + py*r00*cos(j0)/r10 - 3*r00*r11*cos(j0)*cos(j2)/(25*r10) - 3*r00*r12*sin(j2)*cos(j0)/(25*r10) + 3*r01*cos(j0)*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)*cos(j0)/25 + 3*r11*sin(j0)*cos(1.0*j2)/25 - 3*r11*sin(j0)*cos(j2)/25 - 3*r12*sin(j0)*sin(j2)/25 + 3*r12*sin(j0)*sin(1.0*j2)/25, cj1*px*sin(j0) - cj1*py*r00*sin(j0)/r10 + 3*cj1*r00*r11*sin(j0)*cos(j2)/(25*r10) + 3*cj1*r00*r12*sin(j0)*sin(j2)/(25*r10) - 3*cj1*r01*sin(j0)*cos(1.0*j2)/25 - 3*cj1*r02*sin(j0)*sin(1.0*j2)/25 + 3*cj1*r11*cos(j0)*cos(1.0*j2)/25 - 3*cj1*r11*cos(j0)*cos(j2)/25 - 3*cj1*r12*sin(j2)*cos(j0)/25 + 3*cj1*r12*sin(1.0*j2)*cos(j0)/25 + py*r20*sj1/r10 - pz*sj1 + 3*r21*sj1*cos(1.0*j2)/25 + 3*r22*sj1*sin(1.0*j2)/25 - 3*r11*r20*sj1*cos(j2)/(25*r10) - 3*r12*r20*sj1*sin(j2)/(25*r10), -cj1*py*r20/r10 + cj1*pz - 3*cj1*r21*cos(1.0*j2)/25 - 3*cj1*r22*sin(1.0*j2)/25 + 3*cj1*r11*r20*cos(j2)/(25*r10) + 3*cj1*r12*r20*sin(j2)/(25*r10) + px*sj1*sin(j0) - py*r00*sj1*sin(j0)/r10 + 3*r00*r11*sj1*sin(j0)*cos(j2)/(25*r10) + 3*r00*r12*sj1*sin(j0)*sin(j2)/(25*r10) - 3*r01*sj1*sin(j0)*cos(1.0*j2)/25 - 3*r02*sj1*sin(j0)*sin(1.0*j2)/25 + 3*r11*sj1*cos(j0)*cos(1.0*j2)/25 - 3*r11*sj1*cos(j0)*cos(j2)/25 - 3*r12*sj1*sin(j2)*cos(j0)/25 + 3*r12*sj1*sin(1.0*j2)*cos(j0)/25 - 3/25]
  54. INFO: equation -9*cj1**2*r00*r12*sin(j2)/(25*r10) has rot symbols in denom, so skipping...
  55. INFO: equation -9*cj1*r11*r20*sj1*cos(j2)/(25*r10) has rot symbols in denom, so skipping...
  56. INFO: j0 solution: equations used for atan2: [3*r11*cos(1.0*j2)/25 - 3*r11*cos(j2)/25 - 3*r12*sin(j2)/25 + 3*r12*sin(1.0*j2)/25 - 3*sj1*cos(j0)/25, -px + py*r00/r10 - 3*r00*r11*cos(j2)/(25*r10) - 3*r00*r12*sin(j2)/(25*r10) + 3*r01*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)/25 + 3*sj1*sin(j0)/25, -px*cos(j0) + py*r00*cos(j0)/r10 - 3*r00*r11*cos(j0)*cos(j2)/(25*r10) - 3*r00*r12*sin(j2)*cos(j0)/(25*r10) + 3*r01*cos(j0)*cos(1.0*j2)/25 + 3*r02*sin(1.0*j2)*cos(j0)/25 + 3*r11*sin(j0)*cos(1.0*j2)/25 - 3*r11*sin(j0)*cos(j2)/25 - 3*r12*sin(j0)*sin(j2)/25 + 3*r12*sin(j0)*sin(1.0*j2)/25, cj1*px*sin(j0) - cj1*py*r00*sin(j0)/r10 + 3*cj1*r00*r11*sin(j0)*cos(j2)/(25*r10) + 3*cj1*r00*r12*sin(j0)*sin(j2)/(25*r10) - 3*cj1*r01*sin(j0)*cos(1.0*j2)/25 - 3*cj1*r02*sin(j0)*sin(1.0*j2)/25 + 3*cj1*r11*cos(j0)*cos(1.0*j2)/25 - 3*cj1*r11*cos(j0)*cos(j2)/25 - 3*cj1*r12*sin(j2)*cos(j0)/25 + 3*cj1*r12*sin(1.0*j2)*cos(j0)/25 + py*r20*sj1/r10 - pz*sj1 + 3*r21*sj1*cos(1.0*j2)/25 + 3*r22*sj1*sin(1.0*j2)/25 - 3*r11*r20*sj1*cos(j2)/(25*r10) - 3*r12*r20*sj1*sin(j2)/(25*r10), -cj1*py*r20/r10 + cj1*pz - 3*cj1*r21*cos(1.0*j2)/25 - 3*cj1*r22*sin(1.0*j2)/25 + 3*cj1*r11*r20*cos(j2)/(25*r10) + 3*cj1*r12*r20*sin(j2)/(25*r10) + px*sj1*sin(j0) - py*r00*sj1*sin(j0)/r10 + 3*r00*r11*sj1*sin(j0)*cos(j2)/(25*r10) + 3*r00*r12*sj1*sin(j0)*sin(j2)/(25*r10) - 3*r01*sj1*sin(j0)*cos(1.0*j2)/25 - 3*r02*sj1*sin(j0)*sin(1.0*j2)/25 + 3*r11*sj1*cos(j0)*cos(1.0*j2)/25 - 3*r11*sj1*cos(j0)*cos(j2)/25 - 3*r12*sj1*sin(j2)*cos(j0)/25 + 3*r12*sj1*sin(1.0*j2)*cos(j0)/25 - 3/25]
  57. INFO: c=9, adding case r10=0 in r10
  58. INFO: equation -3*r12*r20*sin(j2)/(25*r10) has rot symbols in denom, so skipping...
  59. INFO: equation -3*r00*r12*sin(j2)/(25*r10) has rot symbols in denom, so skipping...
  60. INFO: equation 6*py*r11*cos(j2)/(25*r10**2) has rot symbols in denom, so skipping...
  61. INFO: equation 3*r11*r20*cos(j2)/(25*r10) has rot symbols in denom, so skipping...
  62. INFO: depth=1, c=9, iter=0/5, starting newcases: set([Abs(j1), Abs(j3 - py/r10 + 0.12*r11*cos(1.0*j2)/r10 + 0.12*r12*sin(1.0*j2)/r10)])
  63. INFO: depth=2 c=10, [j3, j1] [j0]: cases=set([Abs(j1), Abs(j3 - py/r10 + 0.12*r11*cos(1.0*j2)/r10 + 0.12*r12*sin(1.0*j2)/r10)])
  64. INFO: c=11, adding case r10=0 in r10
  65. Traceback (most recent call last):
  66.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 9619, in <module>
  67.     chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
  68.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2320, in generateIkSolver
  69.     chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  70.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2915, in solveFullIK_6D
  71.     tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
  72.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 3003, in TestIntersectingAxes
  73.     return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
  74.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 3184, in solve6DIntersectingAxes
  75.     transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)
  76.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6939, in SolveAllEquations
  77.     return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  78.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7039, in AddSolution
  79.     return [solution[0].subs(solsubs)]+self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  80.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6939, in SolveAllEquations
  81.     return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  82.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7039, in AddSolution
  83.     return [solution[0].subs(solsubs)]+self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  84.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6799, in SolveAllEquations
  85.     return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  86.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7603, in AddSolution
  87.     newtree = self.SolveAllEquations(NewEquationsClean,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=newcases, currentcasesubs=newcasesubs, unknownvars=unknownvars)
  88.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6799, in SolveAllEquations
  89.     return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  90.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7603, in AddSolution
  91.     newtree = self.SolveAllEquations(NewEquationsClean,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=newcases, currentcasesubs=newcasesubs, unknownvars=unknownvars)
  92.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6939, in SolveAllEquations
  93.     return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  94.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7557, in AddSolution
  95.     NewEquationsClean = self.PropagateSolvedConstants(NewEquations, othersolvedvars, curvars)
  96.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6706, in PropagateSolvedConstants
  97.     reducedeq = self.SimplifyTransform(eq)
  98.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6453, in SimplifyTransform
  99.     neweq = self._SimplifyRotationNorm(eq, self._rotnormgroups)
  100.   File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6513, in _SimplifyRotationNorm
  101.     p = Poly(eq+1234*group[3],group[0],group[1],group[2])
  102.   File "/root/.local/lib/python2.7/site-packages/sympy/polys/polytools.py", line 98, in __new__
  103.     return cls._from_expr(rep, opt)
  104.   File "/root/.local/lib/python2.7/site-packages/sympy/polys/polytools.py", line 209, in _from_expr
  105.     return cls._from_dict(rep, opt)
  106.   File "/root/.local/lib/python2.7/site-packages/sympy/polys/polytools.py", line 151, in _from_dict
  107.     domain, rep = construct_domain(rep, opt=opt)
  108.   File "/root/.local/lib/python2.7/site-packages/sympy/polys/constructor.py", line 217, in construct_domain
  109.     result = _construct_composite(coeffs, opt)
  110.   File "/root/.local/lib/python2.7/site-packages/sympy/polys/constructor.py", line 109, in _construct_composite
  111.     polys, gens = parallel_dict_from_basic(numers + denoms) # XXX: sorting
  112.   File "/root/.local/lib/python2.7/site-packages/sympy/polys/polyutils.py", line 260, in parallel_dict_from_expr
  113.     reps, opt = _parallel_dict_from_expr(exprs, build_options(args))
  114.   File "/root/.local/lib/python2.7/site-packages/sympy/polys/polyutils.py", line 274, in _parallel_dict_from_expr
  115.     reps, gens = _parallel_dict_from_expr_no_gens(exprs, opt)
  116.   File "/root/.local/lib/python2.7/site-packages/sympy/polys/polyutils.py", line 218, in _parallel_dict_from_expr_no_gens
  117.     raise GeneratorsNeeded("specify generators to give %s a meaning" % arg)
  118. sympy.polys.polyerrors.GeneratorsNeeded: specify generators to give [0, 0] a meaning
Add Comment
Please, Sign In to add comment
Public Pastes
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!