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test-ik.l: add test check #1470 #1529

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merged 4 commits into from
May 25, 2016
Merged

test-ik.l: add test check #1470 #1529

merged 4 commits into from
May 25, 2016

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k-okada
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@k-okada k-okada commented May 24, 2016

this PR solves problem reported on #1470 (comment)

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k-okada commented May 24, 2016 •
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the reason #1470 (comment) could not solve ik from current posture is that the baxter.l uses weight to remove gripper joint, and if we use 7 dof link-list, it can solve ik, it seems manipulability value did not take into account weight value?

loop:   1
union-link-list: (right_upper_shoulder right_lower_shoulder right_upper_elbow right_lower_elbow right_upper_forearm right_l\
ower_forearm right_wrist right_gripper_vacuum_pad_base)
move-target: (#<cascaded-coords #X33f875b0 :rarm-end-coords  1165.63 -390.197 2.897 / 9.703e-07 -1.185e-06 7.515e-07>)
targe-coordst: (#<coordinates #X2ac2d758  1165.63 -390.197 -47.103 / 9.703e-07 -1.185e-06 7.515e-07>)
vel-pos :  0.000   0.000 -50.000
vel-rot :  0.000   0.000   0.000
vel-pos-norm :  50.000/  1.000
vel-rot-norm :   0.000/  0.017
collision-links : nil
parnet-links    : nil
valid-link-list : (right_lower_shoulder right_upper_elbow right_lower_elbow right_upper_forearm right_lower_forearm right_w\
rist right_gripper_vacuum_pad_base)
index-links     : nil
angle :   -5.4    55.9   117.1    72.5   -62.7    -7.7   -87.3    90.0
 min  :  -97.5  -123.0  -175.0    -2.9  -175.3   -90.0  -175.3   -90.5
 max  :   97.5    60.0   175.0   150.0   175.3   120.0   175.3    90.5
usrwei:  1.000   1.000   1.000   1.000   1.000   1.000   1.000   1.000 
addwei:  1.000   1.000   1.000   1.000   1.000   1.000   1.000   0.000 
ocost :100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000\
000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000
cost  :  0.066 158.711   1.435   0.021   0.308   0.260   0.576 2593.337
weight:  1.000   1.000   1.000   1.000   1.000   1.000   1.000   0.000 
k     :  0.000 (manipulability:  0.274, gain:  0.001, limit:  0.100, len:8)
nspace:  0.002  -0.523  -0.256   0.000   0.073   0.027   0.142  -0.000
J     :  0.131  -0.253   0.107   0.067  -0.015  -0.005  -0.000  -0.115
         1.102   0.306  -0.734   0.444   0.106   0.493   0.110   0.000
        -0.000  -0.734   0.429   0.748  -0.056  -0.023  -0.000  -0.001
         0.000   0.771   0.357   0.120   0.991   0.000   1.000   0.000
         0.000   0.637  -0.432  -0.858   0.134   0.047   0.000   1.000
         1.000  -0.000  -0.828   0.499  -0.006   0.999  -0.000   0.000
d(JJt):  0.075
J#t   :  4.523   0.217   5.902  -3.484  -5.045   2.075   3.141   0.000
         0.591  -0.170  -1.493   0.727   1.419  -2.183  -0.829   0.000
        -3.044  -4.738  -7.209   1.445   9.790  -3.590  -3.649   0.000
         0.060   0.215   0.503  -0.059   0.086   0.387   0.576   0.000
        -2.142  -4.098  -6.055  -0.010   8.344  -2.819  -2.947   0.000
        -0.274   0.111   0.788  -0.350  -0.960   2.097   0.626   0.000
x     :  0.000   0.000  -0.050   0.000   0.000   0.000
J#x   :  8.722  13.573  20.652  -4.139 -28.046  10.284  10.453   0.000
Ny    : -0.059  -0.092  -0.159  -0.010  -0.113  -0.069   0.241   0.000
dav   :  8.663  13.481  20.493  -4.149 -28.160  10.216  10.694   0.000
dav^  :  8.663  13.481  20.493  -4.149 -28.160  10.216  10.694   0.000
loop:   2
union-link-list: (right_upper_shoulder right_lower_shoulder right_upper_elbow right_lower_elbow right_upper_forearm right_l\
ower_forearm right_wrist right_gripper_vacuum_pad_base)
move-target: (#<cascaded-coords #X33f875b0 :rarm-end-coords  1184.408 -449.192 9.898 / -0.01 -0.008 -0.127>)
targe-coordst: (#<coordinates #X2ac2d758  1165.63 -390.197 -47.103 / 9.703e-07 -1.185e-06 7.515e-07>)
vel-pos :-19.807  65.539 -48.933
vel-rot :  0.127   0.007   0.010
vel-pos-norm :  84.156/  1.000
vel-rot-norm :   0.128/  0.017
collision-links : nil
parnet-links    : nil
valid-link-list : (right_lower_shoulder right_upper_elbow right_lower_elbow right_upper_forearm right_lower_forearm right_w\
rist right_gripper_vacuum_pad_base)
index-links     : nil
angle :    3.3    60.0   137.6    68.3   -90.9     2.5   -76.6    90.0
 min  :  -97.5  -123.0  -175.0    -2.9  -175.3   -90.0  -175.3   -90.5
 max  :   97.5    60.0   175.0   150.0   175.3   120.0   175.3    90.5
usrwei:  1.000   1.000   1.000   1.000   1.000   1.000   1.000   1.000 
addwei:  1.000   1.000   1.000   1.000   1.000   1.000   1.000   0.000 
ocost :  0.066 158.711   1.435   0.021   0.308   0.260   0.576 2593.337
cost  :  0.039 2621.242   3.526   0.104   0.634   0.134   0.437 2593.337
weight:  1.000   0.000   0.221   0.906   0.612   1.000   1.000   0.000 
k     :  0.000 (manipulability:  0.290, gain:  0.001, limit:  0.100, len:8)

loop:   1
union-link-list: (right_upper_shoulder right_lower_shoulder right_upper_elbow right_lower_elbow right_upper_forearm right_l\
ower_forearm right_wrist)
move-target: (#<cascaded-coords #X33f875b0 :rarm-end-coords  1165.63 -390.197 2.897 / 9.703e-07 -1.185e-06 7.515e-07>)
targe-coordst: (#<coordinates #X2d88cd70  1165.63 -390.197 -47.103 / 9.703e-07 -1.185e-06 7.515e-07>)
vel-pos :  0.000   0.000 -50.000
vel-rot :  0.000   0.000   0.000
vel-pos-norm :  50.000/  1.000
vel-rot-norm :   0.000/  0.017
collision-links : nil
parnet-links    : nil
valid-link-list : (right_lower_shoulder right_upper_elbow right_lower_elbow right_upper_forearm right_lower_forearm right_w\
rist)
index-links     : nil
angle :   -5.4    55.9   117.1    72.5   -62.7    -7.7   -87.3
 min  :  -97.5  -123.0  -175.0    -2.9  -175.3   -90.0  -175.3
 max  :   97.5    60.0   175.0   150.0   175.3   120.0   175.3
usrwei:  1.000   1.000   1.000   1.000   1.000   1.000   1.000 
ocost :100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000\
000000000.000 100000000000000000000.000 100000000000000000000.000
cost  :  0.066 158.711   1.435   0.021   0.308   0.260   0.576
weight:  1.000   1.000   1.000   1.000   1.000   1.000   1.000 
k     :  0.001 (manipulability:  0.021, gain:  0.001, limit:  0.100, len:7)
nspace:  0.002  -0.523  -0.256   0.000   0.073   0.027   0.142
J     :  0.131  -0.253   0.107   0.067  -0.015  -0.005  -0.000
         1.102   0.306  -0.734   0.444   0.106   0.493   0.110
        -0.000  -0.734   0.429   0.748  -0.056  -0.023  -0.000
         0.000   0.771   0.357   0.120   0.991   0.000   1.000
         0.000   0.637  -0.432  -0.858   0.134   0.047   0.000
         1.000  -0.000  -0.828   0.499  -0.006   0.999  -0.000
d(JJt):  0.000
J#t   :  3.987  -0.300   4.801  -3.192  -3.715   1.554   2.577
         0.719  -0.027  -1.204   0.658   1.064  -2.036  -0.681
        -2.282  -3.892  -5.555   1.062   7.736  -2.791  -2.807
         0.031   0.185   0.440  -0.043   0.163   0.355   0.544
        -1.520  -3.393  -4.695  -0.317   6.647  -2.161  -2.255
        -0.364   0.010   0.585  -0.301  -0.710   1.992   0.522
x     :  0.000   0.000  -0.050   0.000   0.000   0.000
J#x   :  6.537  11.149  15.914  -3.041 -22.163   7.996   8.041
Ny    : -0.072  -0.110  -0.190  -0.005  -0.072  -0.084   0.225
dav   :  6.465  11.038  15.724  -3.046 -22.235   7.913   8.266
dav^  :  6.465  11.038  15.724  -3.046 -22.235   7.913   8.266
loop:   2
union-link-list: (right_upper_shoulder right_lower_shoulder right_upper_elbow right_lower_elbow right_upper_forearm right_l\
ower_forearm right_wrist)
move-target: (#<cascaded-coords #X33f875b0 :rarm-end-coords  1179.025 -432.692 7.173 / -0.006 -0.013 -0.097>)
targe-coordst: (#<coordinates #X2d88cd70  1165.63 -390.197 -47.103 / 9.703e-07 -1.185e-06 7.515e-07>)
vel-pos :-14.363  47.448 -49.735
vel-rot :  0.097   0.013   0.007
vel-pos-norm :  70.222/  1.000
vel-rot-norm :   0.098/  0.017
collision-links : nil
parnet-links    : nil
valid-link-list : (right_lower_shoulder right_upper_elbow right_lower_elbow right_upper_forearm right_lower_forearm right_w\
rist)
index-links     : nil
angle :    1.1    60.0   132.8    69.4   -85.0     0.2   -79.1
 min  :  -97.5  -123.0  -175.0    -2.9  -175.3   -90.0  -175.3
 max  :   97.5    60.0   175.0   150.0   175.3   120.0   175.3
usrwei:  1.000   1.000   1.000   1.000   1.000   1.000   1.000 
ocost :  0.066 158.711   1.435   0.021   0.308   0.260   0.576
cost  :  0.013 2621.242   2.761   0.082   0.542   0.160   0.465
weight:  1.000   0.000   0.266   0.925   0.649   1.000   1.000 
k     :  0.001 (manipulability:  0.005, gain:  0.001, limit:  0.100, len:7)

@k-okada k-okada mentioned this pull request May 24, 2016
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k-okada commented May 24, 2016

euslisp/jskeus#380 may be the root problem

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k-okada commented May 25, 2016

ed630a5 -> failed
592621c -> succeeded
2e9ce57 -> failed
2a25324 -> succeeded

@wkentaro wkentaro added this to the 1.0: APC2016 ver1.0 milestone May 25, 2016
@pazeshun
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I think test-ik.l added by this PR isn't robust to gripper change.
If this test fails when gripper is changed, I'll change this test.
+1

@wkentaro wkentaro merged commit f94657a into start-jsk:master May 25, 2016
@k-okada k-okada deleted the fix_1470 branch May 25, 2016 09:38
pazeshun added a commit to pazeshun/jsk_apc that referenced this pull request May 26, 2016
@pazeshun
Revert a part of start-jsk#1511 thanks to start-jsk#1529
2aac4e7
@pazeshun pazeshun mentioned this pull request May 26, 2016
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wkentaro added a commit that referenced this pull request May 27, 2016
@wkentaro
Merge pull request #1551 from pazeshun/revert-1511
fd17108 
[jsk_2016_01_baxter_apc] Revert a part of #1511 thanks to #1529
@pazeshun pazeshun mentioned this pull request May 29, 2016
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@k-okada k-okada mentioned this pull request May 30, 2016
Merged
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