Captain Yoshi captain-yoshi
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| --- | |
| # yq '.data[] | [{"label": "planner: " + .query.planner, "time": .metrics.time, "length": .metrics.length}]' < test.yaml | |
| # Output | |
| - label: 'planner: RRTConnect' | |
| time: [0.023255194999999999, 0.016941831000000001, 0.034279500999999997, 0.017469859000000001, 0.018681218999999999] | |
| length: [5.5403108999999988, 5.5403108999999997, 5.5403109000000015, 5.5403108999999979, 5.5403108999999997] | |
| - label: 'planner: RRTConnect' | |
| time: [0.023255194999999999, 0.016941831000000001, 0.034279500999999997, 0.017469859000000001, 0.018681218999999999] | |
| length: [5.5403108999999988, 5.5403108999999997, 5.5403109000000015, 5.5403108999999979, 5.5403108999999997] | |
| - label: 'planner: RRTConnect' |
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| In file included from /home/captain-yoshi/ws/ros/gsoc_ws/src/rapidyaml/src/c4/yml/node.hpp:9, | |
| from /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_serialization/serialization/include/moveit_serialization/ryml/format.h:40, | |
| from /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_serialization/serialization/src/ryml/sensor_msgs/joint_state.cpp:3: | |
| /home/captain-yoshi/ws/ros/gsoc_ws/src/rapidyaml/src/c4/yml/tree.hpp: In instantiation of ‘typename std::enable_if<(! std::is_floating_point<_Tp>::value), c4::basic_substring<const char> >::type c4::yml::Tree::to_arena(const T&) [with T = std::vector<std::__cxx11::basic_string<char> >; typename std::enable_if<(! std::is_floating_point<_Tp>::value), c4::basic_substring<const char> >::type = c4::basic_substring<const char>]’: | |
| /home/captain-yoshi/ws/ros/gsoc_ws/src/rapidyaml/src/c4/yml/node.hpp:287:17: required from ‘size_t c4::yml::NodeRef::set_val_serialized(const T&) [with T = std::vector<std::__cxx11::basic_string<char> >; size_t = long uns |
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| --- | |
| name: MotionPlanning PP | |
| type: Motion planning PlanningPipeline | |
| date: 2022-Mar-04 19:04:55.351659 | |
| uuid: 682b3dbd_8f07_4874_b2c6_e02fa547741c | |
| version: 2.1 | |
| hostname: captain-yoshi | |
| trials: 5 | |
| timelimit: 0 | |
| totaltime: 8.9962660200000002 |
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| terminate called after throwing an instance of 'boost::wrapexcept<boost::lock_error>' | |
| what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument | |
| Thread 1 "run_example" received signal SIGABRT, Aborted. | |
| __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50 | |
| 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory. | |
| Thread 6 (Thread 0x7fffed984700 (LWP 635939)): | |
| #0 futex_abstimed_wait_cancelable (private=<optimized out>, abstime=0x7fffed983930, clockid=<optimized out>, expected=0, futex_word=0x5555555ef988) at ../sysdeps/nptl/futex-internal.h:320 | |
| #1 __pthread_cond_wait_common (abstime=0x7fffed983930, clockid=<optimized out>, mutex=0x5555555ef938, cond=0x5555555ef960) at pthread_cond_wait.c:520 |
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| [ INFO] [1636342182.211519734]: panda_arm/panda_arm[RRTConnect]: Created 4718 states (1 start + 4717 goal) | |
| [ INFO] [1636342182.211611311]: No solution found after 15.000369 seconds | |
| [ INFO] [1636342182.211664374]: Unable to solve the planning problem | |
| pickplace_benchmark: /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage_p.h:314: static bool moveit::task_constructor::ConnectingPrivate::StatePair::less(const moveit::task_constructor::InterfaceState::Priority&, const moveit::task_constructor::InterfaceState::Priority&, const moveit::task_constructor::InterfaceState::Priority&, const moveit::task_constructor::InterfaceState::Priority&): Assertion `lhs != 0b00 && rhs != 0b00' failed. | |
| --Type <RET> for more, q to quit, c to continue without paging-- | |
| Thread 1 "pickplace_bench" received signal SIGABRT, Aborted. | |
| __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50 | |
| 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory. | |
| (gdb) bt |
captain-yoshi
/ transform.cpp
Last active
September 14, 2021 04:34
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| /// Get robot virtual joint parent frame transform | |
| void moveit_benchmark_suite::getVirtualModelTransform(std::vector<geometry_msgs::TransformStamped>& transforms, | |
| const robot_model::RobotModelConstPtr& robot, double timeout) | |
| { | |
| auto tf_buffer = std::make_shared<tf2_ros::Buffer>(); | |
| auto tf_listener = std::make_shared<tf2_ros::TransformListener>(*tf_buffer); | |
| planning_scene::PlanningScene scene(robot); | |
| const std::string& root_link = robot->getRootLinkName(); | |
| std::string virtual_frame; |
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| # 2 Dataset: Collision check and motion planning | |
| - dataset | |
| name: my super dataset | |
| type: COLLISION CHECK | |
| date: 2021-Aug-16 14:56:50.318221 | |
| totaltime: 0.423836815 | |
| timelimit: 0 | |
| trials: 100 | |
| ... | |
| config: |
captain-yoshi
/ benchmark_collision_check.yaml
Last active
August 17, 2021 03:11
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| - dataset: | |
| name: my super dataset | |
| type: COLLISION CHECK | |
| date: 2021-Aug-16 14:56:50.318221 | |
| totaltime: 0.423836815 | |
| timelimit: 0 | |
| trials: 100 | |
| hostname: captain-yoshi | |
| hw: | |
| cpu: |
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| --- # Motion planning benchmark results | |
| dataset: | |
| hardware: | |
| cpu: | |
| model: 158 | |
| model_name: Intel(R) Core(TM) i7-7700HQ CPU @ 2.80GHz | |
| family: 6 | |
| vendor_id: GenuineIntel | |
| architecture: x86_64 | |
| sockets: 1 |
captain-yoshi
/ segfault_chomp
Created
March 9, 2021 04:31
Segfault backtrace when using chomp with robotiq_2f_140 planning_group
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| (gdb) bt | |
| #0 0x00007ffff7d0269c in moveit::core::LinkModel::getParentJointModel (this=0x0) at /home/captain-yoshi/ws/ros/catkin_ws/src/moveit/moveit_core/robot_model/include/moveit/robot_model/link_model.h:109 | |
| #1 0x00007fffe03fe465 in chomp::ChompOptimizer::initialize (this=0x555568389290) | |
| at /home/captain-yoshi/ws/ros/catkin_ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp:222 | |
| #2 0x00007fffe03fcbea in chomp::ChompOptimizer::ChompOptimizer (this=0x555568389290, trajectory=0x7fffffff5050, planning_scene= | |
| std::shared_ptr<const planning_scene::PlanningScene> (use count 2, weak count 1) = {...}, planning_group="robotiq_2f_140", parameters=0x7fffffff5180, start_state=...) | |
| at /home/captain-yoshi/ws/ros/catkin_ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp:89 | |
| #3 0x00007fffe047d548 in chomp::ChompPlanner::solve (this=0x55555e64ebe0, planning_scene=std::shared_ptr<const planning_scene::PlanningScene> (use count 2, weak count 1) = {...}, r |
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