Klamp't version: 0.8.1
Operating System: Ubuntu 16.04 LTS
Problem Description:
Hello Dr.Hauser. During the motion planning of the UR5e with Reflex Takktile Robotic Hand, we do not want the figures of the Reflex Robotics hand to move. Therefore, when we call the function
makeSpace(world,robot,
edgeCheckResolution=1e-2,
extraConstraints=[],
equalityConstraints=[],
equalityTolerance=1e-3,
ignoreCollisions=[],
movingSubset=None)
in klampt.plan.robotplanning.py, we set the movingSubset=[1, 2, 3, 4, 5, 6], which only includes the 6 joints of UR5e. However, when the program is checking the
space.cspace.feasibilityFailures(qstart)
It reports ValueError:
Traceback (most recent call last):
File "/home/yuan/baymax/Test of MotionPlanning - copy.py", line 155, in
print "Start fails", space.cspace.feasibilityFailures(qstart)
File "/home/yuan/baymax/venv/local/lib/python2.7/site-packages/klampt/plan/motionplanning.py", line 410, in feasibilityFailures
return _motionplanning.CSpaceInterface_feasibilityFailures(self, q)
File "/home/yuan/baymax/venv/local/lib/python2.7/site-packages/klampt/plan/cspaceutils.py", line 143, in
self.feasibilityTests = [(lambda x,f=f:f(self.lift(x))) for f in self.ambientspace.feasibilityTests]
File "/home/yuan/baymax/venv/local/lib/python2.7/site-packages/klampt/plan/cspaceutils.py", line 156, in lift
raise ValueError("Invalid length of embedded space vector: %d should be %d"%(len(xemb),len(self.mapping)))
ValueError: Invalid length of embedded space vector: 51 should be 6
How to solve this problem? Thank you.
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