anthonysimeonov / baxter_mpnet_experiments Goto Github PK

Hi!
when i launched the baxter_mpnet by the following command,

         roslaunch baxter_mpnet_experiments baxter_mpnet.launch

the folowing error was occured.

ERROR: cannot launch node of type [baxter_mpnet/remap.py]: baxter_mpnet
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/minoya/ros_ws/src/moveit_robots/atlas_moveit_config
ROS path [2]=/home/minoya/ros_ws/src/moveit_robots/atlas_v3_moveit_config
ROS path [3]=/home/minoya/ros_ws/src/baxter_common/baxter_common
ROS path [4]=/home/minoya/ros_ws/src/baxter_common/baxter_core_msgs
ROS path [5]=/home/minoya/ros_ws/src/baxter_common/baxter_description
ROS path [6]=/home/minoya/ros_ws/src/baxter_simulator/baxter_gazebo
ROS path [7]=/home/minoya/ros_ws/src/moveit_robots/baxter/baxter_ikfast_left_arm_plugin
ROS path [8]=/home/minoya/ros_ws/src/moveit_robots/baxter/baxter_ikfast_right_arm_plugin
ROS path [9]=/home/minoya/ros_ws/src/baxter_interface
ROS path [10]=/home/minoya/ros_ws/src/baxter_examples
ROS path [11]=/home/minoya/ros_ws/src/baxter_common/baxter_maintenance_msgs
ROS path [12]=/home/minoya/ros_ws/src/baxter/baxter_sdk
ROS path [13]=/home/minoya/ros_ws/src/baxter_simulator/baxter_sim_controllers
ROS path [14]=/home/minoya/ros_ws/src/baxter_simulator/baxter_sim_io
ROS path [15]=/home/minoya/ros_ws/src/baxter_simulator/baxter_sim_kinematics
ROS path [16]=/home/minoya/ros_ws/src/baxter_simulator/baxter_sim_hardware
ROS path [17]=/home/minoya/ros_ws/src/baxter_simulator/baxter_simulator
ROS path [18]=/home/minoya/ros_ws/src/baxter_tools
ROS path [19]=/home/minoya/ros_ws/src/baxter_moveit_experiments
ROS path [20]=/home/minoya/ros_ws/src/baxter_mpnet_experiments
ROS path [21]=/home/minoya/ros_ws/src/moveit_robots/iri_wam_moveit_config
ROS path [22]=/home/minoya/ros_ws/src/moveit_robots/moveit_robots
ROS path [23]=/home/minoya/ros_ws/src/moveit_robots/r2_moveit_generated
ROS path [24]=/home/minoya/ros_ws/src/baxter_common/rethink_ee_description
ROS path [25]=/home/minoya/ros_ws/src/moveit_robots/baxter/baxter_moveit_config
ROS path [26]=/home/minoya/ros_ws/src/baxter_simulator/baxter_sim_examples
ROS path [27]=/home/minoya/ros_ws/src/warehouse_ros
ROS path [28]=/home/minoya/ros_ws/src/warehouse_ros_mongo
ROS path [29]=/opt/ros/kinetic/share

there is no file named "remap.py" in the baxter_mpnet_experiments 's directory.
is there any solution to solved it?

Your Google cloud disk does not have open access rights. Could you please open it？

What a great effort of your team ! I have done in installation and training, after all I get a predicted motion planning path (size nx7), I want to visualize it in Rviz to see how the robot will moves, how can I do ? I'm newbie in ROS Moveit, thanks.

Hello guys,

I am trying to run project with pretrained model and given test example. I did an installation and downloaded and unzipped tests samples and model. But I always get resul like this

GOAL IN COLLISION --- BREAKING step: i=9 j=92 fp: 0 tp: 0 388 START: [-0.07975602 0.32780212 0.03883335 -0.00221989 0.23852038 -0.001236 0.1863429 ] GOAL: [-0.07325188 -0.29086515 -0.17204982 -0.34340358 0.44761458 -0.14867507 0.7157227 ] GOAL IN COLLISION --- BREAKING

for each sample. And as final result a got

`
feasible paths:
0
nan
nan
env: trainEnv_4
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_5
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_6
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_7
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_0
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_1
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_2
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_3
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_8
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

env: trainEnv_9
accuracy: UNKNOWN data[tp_env] == 0 (data[fp_env] == 0); formula 100*data[fp_env]/data[tp_env]
Mean min and max time are UNKNOWN: data['et_env] has 0 length

0.0
0.0
`

Can you please give any advice ?

Hello, I have two confusions. 1How to get the point cloud file? Did you get it from ROS, I didn’t see the description
2 How is the environment description file trainEnvironments.pkl obtained? I also did not see the relevant description.
Looking forward to reply thank you

Hello,
thank you for your interesting work and code for it. I was able to play a little with your code and pre-trained model.
I tried to create some new environment and train on it, but faced with strange behavior of stateValidation function. It reports collision when it is not and doesn't when it is (according visualisation in RViz). I've found that the reason is besause of this multiplication for joint_range and moveit_scrambler which changes ordering of joint.

Could you please tell what for there were used? Looks like it should fixing some issue but what issue it is?