Generate_database_console_output.txt

gistfile1.txt

roslaunch sawyer_moveit_config generate_state_database.launch 
... logging to /home/artemii/.ros/log/6d2fc9be-ce8d-11eb-86be-d89ef3211d35/roslaunch-gula-28400.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.105:37817/

SUMMARY
========

PARAMETERS
 * /generate_state_database/constraints/constraints: [{'frame_id': 'ba...
 * /generate_state_database/constraints/name: path_constraints
 * /generate_state_database/edges_per_sample: 4
 * /generate_state_database/max_edge_length: 0.4
 * /generate_state_database/output_folder: /home/artemii/saw...
 * /generate_state_database/planning_group: right_arm
 * /generate_state_database/use_current_scene: False
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    generate_state_database (moveit_planners_ompl/generate_state_database)

ROS_MASTER_URI=http://021802CP00015.local:11311

process[generate_state_database-1]: started with pid [28409]
[ INFO] [1623859475.427578830]: Loading robot model 'sawyer'...
[ INFO] [1623859475.432468371]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1623859475.640946345]: IK plugin for group 'right_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1623859475.665876576]: IK Using joint right_l0 -3.0503 3.0503
[ INFO] [1623859475.665950538]: IK Using joint right_l1 -3.8095 2.2736
[ INFO] [1623859475.665980299]: IK Using joint right_l2 -3.0426 3.0426
[ INFO] [1623859475.666006397]: IK Using joint right_l3 -3.0439 3.0439
[ INFO] [1623859475.666039153]: IK Using joint right_l4 -2.9761 2.9761
[ INFO] [1623859475.666064425]: IK Using joint right_l5 -2.9761 2.9761
[ INFO] [1623859475.666098196]: IK Using joint right_l6 -4.7124 4.7124
[ INFO] [1623859475.666138237]: Looking in common namespaces for param name: right_arm/position_only_ik
[ INFO] [1623859475.676947608]: Looking in common namespaces for param name: right_arm/solve_type
[ INFO] [1623859475.692519546]: Using solve type Manipulation1
[ INFO] [1623859475.795906517]: Initializing OMPL interface using ROS parameters
[ INFO] [1623859475.816001667]: Generating Joint Space Constraint Approximation Database for constraint:
name: path_constraints
joint_constraints[]
position_constraints[]
orientation_constraints[]
  orientation_constraints[0]: 
    header: 
      seq: 0
      stamp: 0.000000000
      frame_id: base
    orientation: 
      x: 0.5
      y: 0.5
      z: 0.5
      w: 0.5
    link_name: right_hand
    absolute_x_axis_tolerance: 0.4
    absolute_y_axis_tolerance: 6.28319
    absolute_z_axis_tolerance: 0.4
    weight: 0.8
visibility_constraints[]

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[ INFO] [1623860562.091420422]: Generated 10000 states in 1086.274351 seconds
[ INFO] [1623860562.091473359]: Constrained sampling rate: 1.000000
[ INFO] [1623860562.091495748]: Computing graph connections (max 4 edges per sample) ...
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[ INFO] [1623860563.820111028]: Computed possible connections in 1.728562 seconds. Added 19 connections
[ INFO] [1623860563.820158001]: Spent 1088.003609 seconds constructing the database
[ INFO] [1623860563.820212088]: Saving 1 constrained space approximations to '/home/artemii/sawyer_ws/src/sawyer_vending/sawyer_moveit_config/constraint_approximations_database'
Debug:   Serializing 10119 states
[ INFO] [1623860563.823173459]: Successfully generated Joint Space Constraint Approximation Database for constraint:
name: path_constraints
joint_constraints[]
position_constraints[]
orientation_constraints[]
  orientation_constraints[0]: 
    header: 
      seq: 0
      stamp: 0.000000000
      frame_id: base
    orientation: 
      x: 0.5
      y: 0.5
      z: 0.5
      w: 0.5
    link_name: right_hand
    absolute_x_axis_tolerance: 0.4
    absolute_y_axis_tolerance: 6.28319
    absolute_z_axis_tolerance: 0.4
    weight: 0.8
visibility_constraints[]

[ INFO] [1623860563.823208501]: The database has been saved in your local folder '/home/artemii/sawyer_ws/src/sawyer_vending/sawyer_moveit_config/constraint_approximations_database'