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Home Page: https://pypi.org/project/pybullet-planning/
License: MIT License
PyBullet Planning
Home Page: https://pypi.org/project/pybullet-planning/
License: MIT License
python -m examples.test_turtlebot
crashes due to this TypeError
:
Traceback (most recent call last):
File "/usr/lib/python3.8/runpy.py", line 194, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/usr/lib/python3.8/runpy.py", line 87, in _run_code
exec(code, run_globals)
File "/home/abhishek/pybullet-planning/examples/test_turtlebot.py", line 98, in <module>
main()
File "/home/abhishek/pybullet-planning/examples/test_turtlebot.py", line 84, in main
center = (lower + upper)/2. # Computing the center of the AABB
TypeError: unsupported operand type(s) for /: 'list' and 'float'
pybullet-planning/examples/test_turtlebot.py
Lines 82 to 84 in d536384
Since lower
and upper
are both type list
, adding them results in concatenation instead of element-wise addition.
Hello, under what license is this project released under ? I would like to study it to learn more about PyBullet.
Hi, Caelan,
I hope you are doing well.
I imported the PANDA_ARM_URDF instead of DRAKE_IIWA_URDF in test_kuka_pick.py, and I modified the TOOL_FRAMES in the kuka_primitives.py by adding the term 'panda': "panda_leftfinger", while there is no plan for the Franka robot to pick the block.
I further investigated the code and found that the function inverse_kinematics(), the kinematic_conf is not in the between of [lower_limits, upper_limits].
Could you try to use the Franka robot to pick up the block?
Btw, I'm working on a research project about LLM&TAMP, which is highly close to your fantastic work. If you are interested, we could talk for the potential collaboration :)
Bests,
Shu
In the README, should the third command in the movo installation instructions be
python setup.py -a right
instead of
python setup.py -a arm
?
Hi,
I am trying to grasp small blocks in pybullet using the PR2 gripper. However, I notice that there are some artifacts that I encounter while actually grasping the objects. This leads to significant inconsistencies. I have attached a gif of one such artifact. Can someone confirm the source of this issue and possible solutions?
In the example below, the gripper is closed by position controlling to a pre-determined value. There are also cases, where the gripper does not properly grasp the object causing it to fall.
The PR2 model was taken from this repository.
Hi,
I'd like to build an ikFast module for a Fetch robot and use it in pybullet env.
Based on what you have for the franka_panda robot:
I noticed you set a free_joint for panda in ik.py, I was wondering what this free_joint means?
If I leave it as an empty list, I got an error saying "get_ik function takes exactly 3 arguments (2 given)" for line 26 shown below:
If I set the free_joint as "wrist_roll_joint", I always get none solution. Is this because I didn't set correct free_joints? if so do you have any idea what the correct joint to be set? Thank you very much!
I also attached the output of dump_body(robot) below:
I build pybullet and pybullet_plan on my Windows system. but when I run the 'test_kuka_pick.py' ,I got an error in 'utils.py' ,'No module named 'motion_planners'. I want to know how to deal with this error.
Hi Caelan :) I hope you're well!
I have a question about the arguments to IKFast inverse kinematics. I'm looking here:
The argument that I don't understand is free_positions
. I'm guessing that this has something to do with wanting multiple possible solutions from the solver. But what does the IKFast solver expect for that argument? Sorry that I can't find documentation on the IKFast side for this.
Thanks for your help!
Hello, Thanks for such a great library.
I have a problem where I do not know the current joint config and I am required to get multiple Ik solutions of Franka panda given the current end-effector position and orientation.
I looked up the ikfast.py file and there I found pybullet_inverse_Kinematics function .
if I set max-attempts arg greater than 1 would I will be able to get multiple Ik solutions?
If not can you help how can I get multiple Ik solutions then for such a problem?
Thanks
Hello,
I'm trying to run these examples on my ubuntu 18.x VM.
I managed to install pybullet and numpy.But when i run the test, i get this
Traceback (most recent call last):
File "", line 1, in
ImportError: No module named ss
Thanks for your help.
When i try to run to run the kuka test, i also get some errors
pybullet build time: Mar 5 2019 09:25:16
Traceback (most recent call last):
File "/usr/lib/python3.6/runpy.py", line 193, in _run_module_as_main
"main", mod_spec)
File "/usr/lib/python3.6/runpy.py", line 85, in _run_code
exec(code, run_globals)
File "/home/thermo/Documents/dev/ss-pybullet/examples/test_kuka_pick.py", line 5, in
from pybullet_tools.kuka_primitives import BodyPose, BodyConf, Command, get_grasp_gen,
File "/home/thermo/Documents/dev/ss-pybullet/pybullet_tools/kuka_primitives.py", line 4, in
from .pr2_utils import get_top_grasps
File "/home/thermo/Documents/dev/ss-pybullet/pybullet_tools/pr2_utils.py", line 11, in
from .utils import multiply, get_link_pose, joint_from_name, set_joint_position, joints_from_names,
File "/home/thermo/Documents/dev/ss-pybullet/pybullet_tools/utils.py", line 20, in
from motion_planners.rrt_connect import birrt, direct_path
ModuleNotFoundError: No module named 'motion_planners'
Thanks for your help,
Michael
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