Dear all
Now I am using Moveit to try Pick-and-Place using the UBR-1 Perception Pipeline.
I want to detect the object and using fake arm (in attached file) to pick it.
Every thing running is Ok now, but the arm cannot to move when I rosrun the attached file (pick_and_place. py).
MOVEIT give me the following information:
[ INFO] [1428434137.479207112]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1428434137.479325277]: Planning attempt 1 of at most 1
[ INFO] [1428434137.480090600]: RRTConnect: Starting with 1 states
[ INFO] [1428434137.495312028]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1428434137.495426373]: Solution found in 0.015432 seconds
[ INFO] [1428434137.496104888]: Path simplification took 0.000587 seconds
[ INFO] [1428438268.541303870]: Pickup planning completed after 0.353836 seconds
[ INFO] [1428438268.541536770]: Planning attempt 5 of at most 5
[ INFO] [1428438268.541948488]: Added plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1428438268.542141225]: Added plan for pipeline 'pick'. Queue is now of size 2
[ INFO] [1428438268.542524093]: Added plan for pipeline 'pick'. Queue is now of size 3
[ INFO] [1428438268.542647142]: Added plan for pipeline 'pick'. Queue is now of size 4
[ INFO] [1428438268.542779735]: Added plan for pipeline 'pick'. Queue is now of size 5
[ INFO] [1428438268.542936415]: Added plan for pipeline 'pick'. Queue is now of size 5
[ INFO] [1428438268.543055986]: Added plan for pipeline 'pick'. Queue is now of size 6
[ INFO] [1428438268.701955153]: Manipulation plan 0 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1428438268.705481017]: Manipulation plan 2 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1428438268.726364087]: Manipulation plan 1 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1428438268.733462433]: Manipulation plan 3 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1428438268.865854746]: Manipulation plan 5 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1428438268.871852734]: Manipulation plan 4 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1428438268.894006427]: Manipulation plan 6 failed at stage 'reachable & valid pose filter' on thread 1
[ WARN] [1428438268.894408442]: All supplied grasps failed. Retrying last grasp in verbose mode.
[ INFO] [1428438268.894574248]: Re-added last failed plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1428438268.949293090]: IK failed
[ INFO] [1428438269.000531468]: IK failed
[ INFO] [1428438269.055248328]: IK failed
[ INFO] [1428438269.055641754]: Sampler failed to produce a state
[ INFO] [1428438269.055899370]: Manipulation plan 6 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1428438269.056403326]: Pickup planning completed after 0.352647 seconds
[ INFO] [1428438272.066141071]: Combined planning and execution request received for MoveGroup action.
Forwarding to planning and execution pipeline.
[ INFO] [1428438272.066321410]: Planning attempt 1 of at most 1
[ INFO] [1428438272.067807077]: RRTConnect: Starting with 1 states
[ INFO] [1428438272.073042865]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1428438272.073133513]: Solution found in 0.005601 seconds
[ INFO] [1428438272.073713000]: Path simplification took 0.000485 seconds
[ INFO] [1428438274.280281849]: Combined planning and execution request received for MoveGroup action.
Forwarding to planning and execution pipeline.
[ INFO] [1428438274.280461258]: Planning attempt 1 of at most 5
[ INFO] [1428438274.282116484]: RRTConnect: Starting with 1 states
[ INFO] [1428438274.296108479]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1428438274.296242952]: Solution found in 0.014435 seconds
[ INFO] [1428438274.296333407]: Path simplification took 0.000011 seconds
I really cannot understand what is wrong. Could anyone give me some suggestions?I use Ubuntu 12.04 hydro
I am pretty sure that the arm can reach the object but it does not move. Any suggestion is appreciate!!!
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