Hi
I have been created my own resources for a Kuka iiwa and Willow Garage PR2 robots, based on “lula/lula_franka” motion planning resources located in: /isaac-sim/_build/linux-x86_64/release/exts/omni.isaac.motion_planning/resources/lula/lula_franka
Kuka iiwa works nice (few joints and links)… With the registered RMP handler I can move it using the goLocal method.
But, for PR2 I get errors during the modification of the resources to create the handler using trial and error approach. This one doesn’t let me advance…
2020-08-02 18:59:44 [381,545ms] [Info] [omni.isaac.motion_planning.plugin] Register Articulation at /environments/env/WillowGarage/pr2
2020-08-02 18:59:44 [381,545ms] [Info] [omni.isaac.motion_planning.plugin] Creating rmp from
/isaac-sim/_build/linux-x86_64/release/exts/omni.isaac.motion_planning/resources/pr2/pr2/urdf/pr2.urdf
/isaac-sim/_build/linux-x86_64/release/exts/omni.isaac.motion_planning/resources/pr2/pr2/config/robot_descriptor.yaml
/isaac-sim/_build/linux-x86_64/release/exts/omni.isaac.motion_planning/resources/pr2/pr2/config/pr2_rmpflow_common.yaml
F0802 18:59:44.344962 19073 rigid_body.h:177] Joint bounds have not been set.
*** Check failure stack trace: ***
@ 0x7f8e77de669c google::LogMessage::Fail()
@ 0x7f8e77de65f8 google::LogMessage::SendToLog()
@ 0x7f8e77de5f76 google::LogMessage::Flush()
@ 0x7f8e77de9491 google::LogMessageFatal::~LogMessageFatal()
@ 0x7f8e78ccf65f lula::kinematics::Robot::Init()
@ 0x7f8e78ccfe30 lula::kinematics::Robot::Robot()
@ 0x7f8e79150c43 MotionPolicy::initialize()
@ 0x7f8e791499e8 MpRegisterRmp()
@ 0x7f8e774b99bf _ZNSt17_Function_handlerIFmRN4omni5isaac15motion_planning14MotionPlanningESsSsSsSsSsbEZ21wrapInterfaceFunctionIS3_mJSsSsSsSsSsbEESt8functionIFT0_RT_DpT1_EEMS9_PFS8_SC_EEUlS4_SsSsSsSsSsbE_E9_M_invokeERKSt9_Any_dataS4_OSsSN_SN_SN_SN_Ob
@ 0x7f8e774d4112 _ZZN8pybind1112cpp_function10initializeISt8functionIFmRN4omni5isaac15motion_planning14MotionPlanningESsSsSsSsSsbEEmJS7_SsSsSsSsSsbEJNS_4nameENS_9is_methodENS_7siblingEEEEvOT_PFT0_DpT1_EDpRKT2_ENKUlRNS_6detail13function_callEE1_clESQ_
@ 0x7f8e774cfc1f pybind11::cpp_function::dispatcher()
@ 0x7f910fd4d41a _PyCFunction_FastCallDict
@ 0x7f910fdd8c49 (unknown)
@ 0x7f910fddcc3a _PyEval_EvalFrameDefault
@ 0x7f910fdd8b0b (unknown)
@ 0x7f910fde18c5 _PyFunction_FastCallDict
@ 0x7f910fce72ae _PyObject_FastCallDict
@ 0x7f910fce73ad _PyObject_Call_Prepend
@ 0x7f910fce7078 PyObject_Call
@ 0x7f910fd6a449 (unknown)
@ 0x7f910fd65782 (unknown)
@ 0x7f910fce71e9 _PyObject_FastCallDict
@ 0x7f910fdd8c49 (unknown)
@ 0x7f910fddcc3a _PyEval_EvalFrameDefault
@ 0x7f910fdd8b0b (unknown)
@ 0x7f910fdd8d82 (unknown)
@ 0x7f910fddcc3a _PyEval_EvalFrameDefault
@ 0x7f910fd0d5fc _PyGen_Send
@ 0x7f9105bde1d7 (unknown)
@ 0x7f9105bdf05a (unknown)
@ 0x7f910fce7078 PyObject_Call
@ 0x7f910fddd136 _PyEval_EvalFrameDefault
Fatal Python error: Aborted
So, Is there any idea to solve this error? Where can I find more detailed documentation about the RMP Extension and its resources that help me understand how to build a specific RMP handler?
This is the modified resource for PR2. Note that it just tries to configure the manipulation for the right hand pr2.zip (19.6 KB)
Also, there is a detailed description of the PR2 urdf here
Thanks in advance…