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pazeshun/ik_with_small_thre

Last active May 18, 2023 08:02
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ik_with_small_thre
$ roseus cobotta-interface.l # Requirement: https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_denso_robot#how-to-setup-development-environment-on-your-pc
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin
connected to Xserver DISPLAY=:1
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb
;; extending gcstack 0x56523cdfd690[16374] --> 0x56523d284ae0[32748] top=3d4b
irtgl irtglc irtviewer
EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-151(Tue Oct 25 10:11:33 PST 2022)
;; .eusrc executed!! *rcb4eus-dir*=/home/leus/rcb4eus added, *load-path* updated!!$ roseus cobotta-interface.l ;; Requirement: https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_denso_robot#how-to-setup-development-environment-on-your-pc
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin
connected to Xserver DISPLAY=:1
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb
;; extending gcstack 0x56523cdfd690[16374] --> 0x56523d284ae0[32748] top=3d4b
irtgl irtglc irtviewer
EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-151(Tue Oct 25 10:11:33 PST 2022)
;; .eusrc executed!! *rcb4eus-dir*=/home/leus/rcb4eus added, *load-path* updated!!
;; *load-path*=("/home/leus/rcb4eus/Linux64/obj/"
"/home/leus/rcb4eus/Linux64/lib/"
"/home/leus/rcb4eus/"
"/opt/ros/melodic/share/euslisp/jskeus/eus//Linux64/lib/"
"./"
"/opt/ros/melodic/share/euslisp/jskeus/eus/"
"/opt/ros/melodic/share/euslisp/jskeus/eus/lib/"
"/opt/ros/melodic/share/euslisp/jskeus/eus/lib/llib/"
"/opt/ros/melodic/share/euslisp/jskeus/eus/lib/demo/")
roseus ;; loading roseus("1.7.4") on euslisp((9.29 ip-10-0-1-151 Tue Oct 25 10:11:33 PST 2022 1.2.5))
eustf roseus_c_util 1.irteusgl$ (cobotta)
PQP Error! EndModel() called on model with no triangles
#<cobotta-robot #X56523e33b918 cobotta 0.0 0.0 0.0 / 0.0 0.0 0.0>
2.irteusgl$ (send *cobotta* :angle-vector #f(-10.094 -16.3036 108.178 4.48656 -60.5562 0.91869))
#f(-10.094 -16.3036 108.178 4.48656 -60.5562 0.91869)
3.irteusgl$ (send *cobotta* :arm :move-end-pos #f(0 0 -30) :world :thre 0.05 :debug-view t)
loop: 1
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.487 -82.762 426.376 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 15.509 -2.594 -25.549
vel-rot : 0.000 0.000 0.000
vel-pos-norm : 30.000/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -16.3 108.2 4.5 -60.6 0.9
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost :100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000
cost : 0.052 1.031 1.511 0.018 2.691 0.004
weight: 1.000 1.000 1.000 1.000 1.000 1.000
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.003 0.118 -0.131 -0.000 0.281 -0.000
J : 0.054 0.306 0.194 0.030 0.102 0.000
0.183 -0.019 -0.021 -0.089 -0.002 0.000
0.014 -0.029 -0.151 -0.056 -0.000 -0.000
-0.517 0.054 0.054 0.871 0.016 0.000
0.086 0.996 0.996 -0.014 1.000 0.000
0.852 -0.068 -0.068 0.492 -0.000 1.000
d(JJt): 0.000
J#t : 0.486 4.976 -0.904 0.112 -4.089 -0.192
6.438 -1.727 -0.529 3.906 1.743 -7.550
-0.476 3.172 -6.778 -0.129 3.629 0.223
0.549 -0.136 -0.454 1.496 0.561 -1.242
-0.057 -0.496 0.121 -0.037 1.376 0.041
0.053 -0.015 -0.003 0.034 0.014 0.936
x : 0.016 -0.003 -0.026 0.000 0.000 0.000
J#x : 0.172 0.034 9.196 -0.293 -9.204 0.626
Ny : 0.001 0.004 -0.015 0.002 0.011 -0.003
dav : 0.174 0.038 9.181 -0.291 -9.193 0.623
dav^ : 0.174 0.038 9.181 -0.291 -9.193 0.623
loop: 2
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 170.81 -81.981 398.249 / -0.112 0.544 0.1>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 2.469 -0.656 -0.634
vel-rot : 0.001 -0.000 -0.000
vel-pos-norm : 2.633/ 0.050
vel-rot-norm : 0.001/ 0.017
angle : -9.9 -16.3 117.4 4.2 -69.7 1.5
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.052 1.031 1.511 0.018 2.691 0.004
cost : 0.051 1.029 3.232 0.017 5.088 0.006
weight: 1.000 1.000 0.236 1.000 0.164 0.994
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.003 0.118 -0.054 -0.000 0.057 -0.000
J : 0.053 0.281 0.169 0.020 0.102 0.000
0.181 -0.018 -0.020 -0.096 -0.003 0.000
0.014 -0.042 -0.164 -0.061 -0.000 0.000
-0.517 0.052 0.052 0.938 0.027 0.000
0.086 0.996 0.996 -0.025 1.000 -0.000
0.852 -0.069 -0.069 0.346 0.000 1.000
d(JJt): 0.000
J#t : 0.662 5.210 -1.565 0.277 -3.648 -0.409
6.545 -1.777 -0.157 3.651 1.446 -6.964
-0.621 2.387 -5.335 -0.283 2.964 0.424
0.567 -0.137 -0.320 1.386 0.438 -0.993
-0.111 -0.429 0.253 -0.089 1.173 0.113
0.051 -0.014 -0.000 0.029 0.011 0.945
x : 0.002 -0.001 -0.001 0.001 -0.000 -0.000
J#x : -0.095 0.715 -0.045 -0.003 -0.669 0.112
Ny : 0.001 0.004 -0.016 0.001 0.012 -0.002
dav : -0.093 0.719 -0.060 -0.002 -0.657 0.109
dav^ : -0.093 0.719 -0.060 -0.002 -0.657 0.109
loop: 3
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.316 -82.575 396.8 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.382 -0.193 -0.246
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.494/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.0 -15.5 117.3 4.2 -70.4 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.051 1.029 3.232 0.017 5.088 0.006
cost : 0.051 0.988 3.214 0.017 5.369 0.007
weight: 0.951 1.000 1.000 1.000 0.157 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.113 -0.226 -0.000 0.056 -0.000
J : 0.054 0.280 0.167 0.019 0.102 0.000
0.183 -0.018 -0.020 -0.097 -0.003 0.000
0.014 -0.044 -0.164 -0.061 -0.000 -0.000
-0.517 0.053 0.053 0.942 0.029 0.000
0.087 0.996 0.996 -0.027 1.000 0.000
0.852 -0.069 -0.069 0.335 -0.000 1.000
d(JJt): 0.000
J#t : 0.654 5.354 -1.860 0.281 -3.497 -0.410
6.474 -1.751 -0.148 3.595 1.417 -6.843
-0.633 2.767 -6.013 -0.277 3.256 0.408
0.562 -0.109 -0.357 1.378 0.450 -0.972
-0.110 -0.449 0.299 -0.091 1.146 0.114
0.049 -0.013 -0.000 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 0.000
J#x : -0.049 0.101 0.045 -0.033 -0.146 0.063
Ny : 0.001 0.005 -0.018 0.001 0.013 -0.002
dav : -0.048 0.105 0.027 -0.031 -0.133 0.060
dav^ : -0.048 0.105 0.027 -0.031 -0.133 0.060
loop: 4
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.483 -82.716 396.515 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.080 -0.057 -0.109
vel-rot : -0.000 -0.000 -0.000
vel-pos-norm : 0.146/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -15.4 117.3 4.2 -70.5 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.051 0.988 3.214 0.017 5.369 0.007
cost : 0.052 0.982 3.222 0.017 5.428 0.007
weight: 0.951 1.000 0.237 1.000 0.156 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.112 -0.054 -0.000 0.055 -0.000
J : 0.054 0.280 0.167 0.019 0.102 -0.000
0.183 -0.018 -0.020 -0.097 -0.003 -0.000
0.014 -0.044 -0.164 -0.061 0.000 -0.000
-0.517 0.054 0.054 0.942 0.030 -0.000
0.086 0.996 0.996 -0.028 1.000 -0.000
0.852 -0.068 -0.068 0.333 -0.000 1.000
d(JJt): 0.000
J#t : 0.664 5.221 -1.656 0.284 -3.567 -0.415
6.468 -1.764 -0.122 3.587 1.408 -6.826
-0.614 2.326 -5.303 -0.281 2.991 0.412
0.563 -0.135 -0.314 1.376 0.434 -0.968
-0.111 -0.427 0.267 -0.092 1.157 0.115
0.049 -0.013 -0.000 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 -0.000
J#x : -0.015 0.016 0.026 -0.010 -0.042 0.018
Ny : 0.001 0.004 -0.016 0.001 0.012 -0.002
dav : -0.013 0.019 0.010 -0.009 -0.030 0.016
dav^ : -0.013 0.019 0.010 -0.009 -0.030 0.016
loop: 5
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.506 -82.751 396.45 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.023 -0.021 -0.070
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.077/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -15.4 117.3 4.2 -70.6 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.052 0.982 3.222 0.017 5.428 0.007
cost : 0.052 0.981 3.225 0.016 5.442 0.007
weight: 0.951 1.000 0.237 1.000 0.155 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.112 -0.054 -0.000 0.055 -0.000
J : 0.054 0.280 0.167 0.019 0.102 0.000
0.183 -0.018 -0.020 -0.097 -0.003 -0.000
0.014 -0.044 -0.165 -0.061 0.000 0.000
-0.517 0.054 0.054 0.943 0.030 -0.000
0.086 0.996 0.996 -0.028 1.000 -0.000
0.852 -0.068 -0.068 0.333 0.000 1.000
d(JJt): 0.000
J#t : 0.665 5.221 -1.659 0.285 -3.565 -0.418
6.466 -1.765 -0.120 3.586 1.408 -6.822
-0.613 2.324 -5.301 -0.280 2.991 0.412
0.563 -0.135 -0.313 1.376 0.434 -0.967
-0.112 -0.426 0.267 -0.093 1.156 0.115
0.049 -0.013 -0.000 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 0.000
J#x : -0.004 -0.000 0.019 -0.003 -0.019 0.006
Ny : 0.001 0.004 -0.016 0.001 0.012 -0.002
dav : -0.003 0.003 0.004 -0.002 -0.007 0.004
dav^ : -0.003 0.003 0.004 -0.002 -0.007 0.004
loop: 6
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.508 -82.759 396.433 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.012 -0.012 -0.059
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.061/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -15.4 117.3 4.2 -70.6 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.052 0.981 3.225 0.016 5.442 0.007
cost : 0.052 0.981 3.226 0.016 5.445 0.007
weight: 0.951 1.000 0.237 1.000 0.155 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.112 -0.054 -0.000 0.055 -0.000
J : 0.054 0.280 0.167 0.019 0.102 0.000
0.183 -0.018 -0.020 -0.097 -0.003 0.000
0.014 -0.045 -0.165 -0.061 0.000 -0.000
-0.517 0.054 0.054 0.943 0.030 0.000
0.086 0.996 0.996 -0.028 1.000 0.000
0.852 -0.068 -0.068 0.333 -0.000 1.000
d(JJt): 0.000
J#t : 0.666 5.221 -1.659 0.285 -3.564 -0.418
6.466 -1.765 -0.119 3.585 1.408 -6.821
-0.613 2.324 -5.301 -0.280 2.991 0.412
0.563 -0.135 -0.313 1.376 0.434 -0.967
-0.112 -0.426 0.267 -0.093 1.156 0.115
0.049 -0.013 -0.000 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 0.000
J#x : -0.002 -0.003 0.017 -0.002 -0.014 0.003
Ny : 0.001 0.004 -0.016 0.001 0.012 -0.002
dav : -0.001 0.001 0.001 -0.000 -0.002 0.001
dav^ : -0.001 0.001 0.001 -0.000 -0.002 0.001
loop: 7
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.508 -82.761 396.428 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.009 -0.010 -0.055
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.057/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -15.4 117.3 4.2 -70.6 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.052 0.981 3.226 0.016 5.445 0.007
cost : 0.052 0.981 3.226 0.016 5.446 0.007
weight: 0.951 1.000 0.237 1.000 0.155 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.112 -0.054 -0.000 0.055 -0.000
J : 0.054 0.280 0.167 0.019 0.102 -0.000
0.183 -0.018 -0.020 -0.097 -0.003 -0.000
0.014 -0.045 -0.165 -0.061 0.000 -0.000
-0.517 0.054 0.054 0.943 0.030 -0.000
0.086 0.996 0.996 -0.029 1.000 -0.000
0.852 -0.068 -0.068 0.333 0.000 1.000
d(JJt): 0.000
J#t : 0.666 5.221 -1.660 0.285 -3.564 -0.418
6.466 -1.765 -0.119 3.585 1.408 -6.821
-0.613 2.324 -5.301 -0.280 2.991 0.412
0.563 -0.135 -0.313 1.376 0.434 -0.967
-0.112 -0.426 0.267 -0.093 1.156 0.115
0.049 -0.013 -0.000 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 0.000
J#x : -0.001 -0.003 0.016 -0.001 -0.013 0.002
Ny : 0.001 0.004 -0.016 0.001 0.012 -0.002
dav : -0.000 0.000 0.000 -0.000 -0.000 0.000
dav^ : -0.000 0.000 0.000 -0.000 -0.000 0.000
loop: 8
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.508 -82.761 396.427 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.009 -0.009 -0.054
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.056/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -15.4 117.3 4.2 -70.6 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.052 0.981 3.226 0.016 5.446 0.007
cost : 0.052 0.981 3.227 0.016 5.446 0.007
weight: 0.951 1.000 0.237 1.000 0.155 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.112 -0.054 -0.000 0.055 -0.000
J : 0.054 0.280 0.167 0.019 0.102 -0.000
0.183 -0.018 -0.020 -0.097 -0.003 -0.000
0.014 -0.045 -0.165 -0.061 0.000 -0.000
-0.517 0.054 0.054 0.943 0.030 0.000
0.086 0.996 0.996 -0.029 1.000 -0.000
0.852 -0.068 -0.068 0.333 0.000 1.000
d(JJt): 0.000
J#t : 0.666 5.221 -1.660 0.285 -3.564 -0.418
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0.562 -0.130 -0.316 1.375 0.432 -0.966
-0.117 -0.410 0.258 -0.096 1.149 0.121
0.049 -0.013 -0.001 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 0.000
J#x : -0.001 -0.003 0.016 -0.001 -0.012 0.002
Ny : 0.001 0.003 -0.016 0.001 0.012 -0.002
dav : -0.000 -0.000 0.000 0.000 -0.000 0.000
dav^ : -0.000 -0.000 0.000 0.000 -0.000 0.000
loop: 48
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.508 -82.761 396.427 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.009 -0.009 -0.054
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.055/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -15.4 117.3 4.2 -70.6 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.052 0.981 3.227 0.016 5.446 0.007
cost : 0.052 0.981 3.227 0.016 5.446 0.007
weight: 0.951 0.505 0.237 0.984 0.155 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.057 -0.054 -0.000 0.055 -0.000
J : 0.054 0.280 0.167 0.019 0.102 -0.000
0.183 -0.018 -0.020 -0.097 -0.003 -0.000
0.014 -0.045 -0.165 -0.061 0.000 -0.000
-0.517 0.054 0.054 0.943 0.030 -0.000
0.086 0.996 0.996 -0.029 1.000 0.000
0.852 -0.068 -0.068 0.333 -0.000 1.000
d(JJt): 0.000
J#t : 0.722 5.027 -1.550 0.319 -3.482 -0.483
6.446 -1.699 -0.156 3.573 1.380 -6.798
-0.588 2.237 -5.252 -0.265 3.028 0.383
0.561 -0.130 -0.316 1.374 0.431 -0.964
-0.116 -0.411 0.258 -0.096 1.149 0.120
0.049 -0.013 -0.001 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 0.000
J#x : -0.001 -0.003 0.016 -0.001 -0.012 0.002
Ny : 0.001 0.003 -0.016 0.001 0.012 -0.002
dav : 0.000 0.000 0.000 -0.000 -0.000 -0.000
dav^ : 0.000 0.000 0.000 -0.000 -0.000 -0.000
loop: 49
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.508 -82.761 396.427 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.009 -0.009 -0.054
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.055/ 0.050
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -15.4 117.3 4.2 -70.6 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.052 0.981 3.227 0.016 5.446 0.007
cost : 0.052 0.981 3.227 0.016 5.446 0.007
weight: 1.000 1.000 0.237 0.984 0.155 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.003 0.112 -0.054 -0.000 0.055 -0.000
J : 0.054 0.280 0.167 0.019 0.102 0.000
0.183 -0.018 -0.020 -0.097 -0.003 -0.000
0.014 -0.045 -0.165 -0.061 0.000 0.000
-0.517 0.054 0.054 0.943 0.030 -0.000
0.086 0.996 0.996 -0.029 1.000 -0.000
0.852 -0.068 -0.068 0.333 -0.000 1.000
d(JJt): 0.000
J#t : 0.667 5.221 -1.660 0.286 -3.564 -0.420
6.480 -1.768 -0.119 3.593 1.410 -6.836
-0.615 2.324 -5.301 -0.281 2.991 0.413
0.564 -0.135 -0.313 1.376 0.434 -0.967
-0.112 -0.426 0.267 -0.093 1.156 0.115
0.049 -0.013 -0.000 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 0.000
J#x : -0.001 -0.004 0.016 -0.001 -0.012 0.002
Ny : 0.001 0.004 -0.016 0.001 0.012 -0.002
dav : 0.000 -0.000 0.000 0.000 -0.000 -0.000
dav^ : 0.000 -0.000 0.000 0.000 -0.000 -0.000
;; inverse-kinematics failed.
;; dif-pos : #f(0.008542 -0.008941 -0.053929)/(0.055329/0.05)
;; dif-rot : #f(-4.758796e-06 -6.555494e-06 9.709351e-10)/(8.100657e-06/0.017453)
;; coords : #<coordinates #X56523e3306b8 0.0 0.0 0.0 / 0.0 0.0 0.0>
;; angles : (-10.094 -16.3036 108.178 4.48656 -60.5562 0.91869)
;; args : ((#<coordinates #X56523e8e55d0 172.487 -82.762 396.376 / -0.113 0.543 0.101>) :move-target #<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.508 -82.761 396.427 / -0.113 0.543 0.101> :link-list (#<bodyset-link #X56523ddb7298 J1 0.0 0.0 0.0 / -0.176 0.0 0.0> #<bodyset-link #X56523de13950 J2 0.0 0.0 180.0 / -0.176 -0.269 0.0> #<bodyset-link #X56523de13428 J3 -43.186 7.677 339.063 / 2.966 1.363 -3.142> #<bodyset-link #X56523dee7350 J4 47.527 11.865 332.621 / 2.628 1.351 2.811> #<bodyset-link #X56523e195be0 J5 129.959 -23.047 312.713 / -0.148 0.546 0.083> #<bodyset-link #X56523e2ef248 J6 142.525 -73.272 345.33 / -0.113 0.543 0.101>) :move-target #<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.508 -82.761 396.427 / -0.113 0.543 0.101> :collision-avoidance-link-pair nil :link-list (#<bodyset-link #X56523ddb7298 J1 0.0 0.0 0.0 / -0.176 0.0 0.0> #<bodyset-link #X56523de13950 J2 0.0 0.0 180.0 / -0.176 -0.269 0.0> #<bodyset-link #X56523de13428 J3 -43.186 7.677 339.063 / 2.966 1.363 -3.142> #<bodyset-link #X56523dee7350 J4 47.527 11.865 332.621 / 2.628 1.351 2.811> #<bodyset-link #X56523e195be0 J5 129.959 -23.047 312.713 / -0.148 0.546 0.083> #<bodyset-link #X56523e2ef248 J6 142.525 -73.272 345.33 / -0.113 0.543 0.101>) :thre 0.05 :debug-view t)
;; command : (let ((r (instance cobotta-robot :init))) (progn (send r :newcoords (make-coords :4x4 #2f((1.0 0.0 0.0 0.0) (0.0 1.0 0.0 0.0) (0.0 0.0 1.0 0.0) (0.0 0.0 0.0 1.0)))) (mapc #'(lambda (j a) (send* j :joint-angle a nil)) (list (send r :joint_1) (send r :joint_2) (send r :joint_3) (send r :joint_4) (send r :joint_5) (send r :joint_6)) '(-10.094 -16.3036 108.178 4.48656 -60.5562 0.91869)) (objects (list r))) (send* r :inverse-kinematics (list (list (make-coords :pos #f(172.487 -82.7625 396.376) :rot #2f((0.850591 0.163629 0.49972) (-0.096133 0.982724 -0.158152) (-0.516965 0.086483 0.851627)))) :dump-command nil :debug-view t :move-target (let* ((p (send r :link "J6")) (mt (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-coords :4x4 #2f((1.0 0.0 -6.938894e-18 2.842171e-14) (0.0 1.0 0.0 3.552714e-15) (6.938894e-18 0.0 1.0 60.0) (0.0 0.0 0.0 1.0))))))) (send p :assoc mt) mt) :link-list (list (send r :link "J1") (send r :link "J2") (send r :link "J3") (send r :link "J4") (send r :link "J5") (send r :link "J6")) :move-target (let* ((p (send r :link "J6")) (mt (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-coords :4x4 #2f((1.0 0.0 -6.938894e-18 2.842171e-14) (0.0 1.0 0.0 3.552714e-15) (6.938894e-18 0.0 1.0 60.0) (0.0 0.0 0.0 1.0))))))) (send p :assoc mt) mt) :collision-avoidance-link-pair nil :link-list (list (send r :link "J1") (send r :link "J2") (send r :link "J3") (send r :link "J4") (send r :link "J5") (send r :link "J6")) :thre 0.05 :debug-view t)))
;; dump debug command to /tmp/irtmodel-ik-4362/cobotta-robot-2023-04-19-11-29-33-56-62-26-failure.l
;; (progn (load "/tmp/irtmodel-ik-4362/cobotta-robot-2023-04-19-11-29-33-56-62-26-failure.l")(ik-setup)(ik-check))
nil
4.irteusgl$ (send *cobotta* :arm :move-end-pos #f(0 0 -30) :world :thre 0.1 :debug-view t)
loop: 1
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.487 -82.762 426.376 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e52f128 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 15.509 -2.594 -25.549
vel-rot : 0.000 0.000 0.000
vel-pos-norm : 30.000/ 0.100
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -16.3 108.2 4.5 -60.6 0.9
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost :100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000
cost : 0.052 1.031 1.511 0.018 2.691 0.004
weight: 1.000 1.000 1.000 1.000 1.000 1.000
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.003 0.118 -0.131 -0.000 0.281 -0.000
J : 0.054 0.306 0.194 0.030 0.102 0.000
0.183 -0.019 -0.021 -0.089 -0.002 0.000
0.014 -0.029 -0.151 -0.056 -0.000 -0.000
-0.517 0.054 0.054 0.871 0.016 0.000
0.086 0.996 0.996 -0.014 1.000 0.000
0.852 -0.068 -0.068 0.492 -0.000 1.000
d(JJt): 0.000
J#t : 0.486 4.976 -0.904 0.112 -4.089 -0.192
6.438 -1.727 -0.529 3.906 1.743 -7.550
-0.476 3.172 -6.778 -0.129 3.629 0.223
0.549 -0.136 -0.454 1.496 0.561 -1.242
-0.057 -0.496 0.121 -0.037 1.376 0.041
0.053 -0.015 -0.003 0.034 0.014 0.936
x : 0.016 -0.003 -0.026 0.000 0.000 0.000
J#x : 0.172 0.034 9.196 -0.293 -9.204 0.626
Ny : 0.001 0.004 -0.015 0.002 0.011 -0.003
dav : 0.174 0.038 9.181 -0.291 -9.193 0.623
dav^ : 0.174 0.038 9.181 -0.291 -9.193 0.623
loop: 2
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 170.81 -81.981 398.249 / -0.112 0.544 0.1>)
targe-coordst: (#<coordinates #X56523e52f128 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 2.469 -0.656 -0.634
vel-rot : 0.001 -0.000 -0.000
vel-pos-norm : 2.633/ 0.100
vel-rot-norm : 0.001/ 0.017
angle : -9.9 -16.3 117.4 4.2 -69.7 1.5
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.052 1.031 1.511 0.018 2.691 0.004
cost : 0.051 1.029 3.232 0.017 5.088 0.006
weight: 1.000 1.000 0.236 1.000 0.164 0.994
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.003 0.118 -0.054 -0.000 0.057 -0.000
J : 0.053 0.281 0.169 0.020 0.102 0.000
0.181 -0.018 -0.020 -0.096 -0.003 0.000
0.014 -0.042 -0.164 -0.061 -0.000 0.000
-0.517 0.052 0.052 0.938 0.027 0.000
0.086 0.996 0.996 -0.025 1.000 -0.000
0.852 -0.069 -0.069 0.346 0.000 1.000
d(JJt): 0.000
J#t : 0.662 5.210 -1.565 0.277 -3.648 -0.409
6.545 -1.777 -0.157 3.651 1.446 -6.964
-0.621 2.387 -5.335 -0.283 2.964 0.424
0.567 -0.137 -0.320 1.386 0.438 -0.993
-0.111 -0.429 0.253 -0.089 1.173 0.113
0.051 -0.014 -0.000 0.029 0.011 0.945
x : 0.002 -0.001 -0.001 0.001 -0.000 -0.000
J#x : -0.095 0.715 -0.045 -0.003 -0.669 0.112
Ny : 0.001 0.004 -0.016 0.001 0.012 -0.002
dav : -0.093 0.719 -0.060 -0.002 -0.657 0.109
dav^ : -0.093 0.719 -0.060 -0.002 -0.657 0.109
loop: 3
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.316 -82.575 396.8 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e52f128 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.382 -0.193 -0.246
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.494/ 0.100
vel-rot-norm : 0.000/ 0.017
angle : -10.0 -15.5 117.3 4.2 -70.4 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.051 1.029 3.232 0.017 5.088 0.006
cost : 0.051 0.988 3.214 0.017 5.369 0.007
weight: 0.951 1.000 1.000 1.000 0.157 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.113 -0.226 -0.000 0.056 -0.000
J : 0.054 0.280 0.167 0.019 0.102 0.000
0.183 -0.018 -0.020 -0.097 -0.003 0.000
0.014 -0.044 -0.164 -0.061 -0.000 -0.000
-0.517 0.053 0.053 0.942 0.029 0.000
0.087 0.996 0.996 -0.027 1.000 0.000
0.852 -0.069 -0.069 0.335 -0.000 1.000
d(JJt): 0.000
J#t : 0.654 5.354 -1.860 0.281 -3.497 -0.410
6.474 -1.751 -0.148 3.595 1.417 -6.843
-0.633 2.767 -6.013 -0.277 3.256 0.408
0.562 -0.109 -0.357 1.378 0.450 -0.972
-0.110 -0.449 0.299 -0.091 1.146 0.114
0.049 -0.013 -0.000 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 0.000
J#x : -0.049 0.101 0.045 -0.033 -0.146 0.063
Ny : 0.001 0.005 -0.018 0.001 0.013 -0.002
dav : -0.048 0.105 0.027 -0.031 -0.133 0.060
dav^ : -0.048 0.105 0.027 -0.031 -0.133 0.060
loop: 4
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.483 -82.716 396.515 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e52f128 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.080 -0.057 -0.109
vel-rot : -0.000 -0.000 -0.000
vel-pos-norm : 0.146/ 0.100
vel-rot-norm : 0.000/ 0.017
angle : -10.1 -15.4 117.3 4.2 -70.5 1.7
min : -150.0 -60.0 18.0 -170.0 -95.0 -170.0
max : 150.0 100.0 140.0 170.0 135.0 170.0
usrwei: 1.000 1.000 1.000 1.000 1.000 1.000
ocost : 0.051 0.988 3.214 0.017 5.369 0.007
cost : 0.052 0.982 3.222 0.017 5.428 0.007
weight: 0.951 1.000 0.237 1.000 0.156 0.993
k : 0.001 (manipulability: 0.003, gain: 0.001, limit: 0.100, len:6)
nspace: 0.002 0.112 -0.054 -0.000 0.055 -0.000
J : 0.054 0.280 0.167 0.019 0.102 -0.000
0.183 -0.018 -0.020 -0.097 -0.003 -0.000
0.014 -0.044 -0.164 -0.061 0.000 -0.000
-0.517 0.054 0.054 0.942 0.030 -0.000
0.086 0.996 0.996 -0.028 1.000 -0.000
0.852 -0.068 -0.068 0.333 -0.000 1.000
d(JJt): 0.000
J#t : 0.664 5.221 -1.656 0.284 -3.567 -0.415
6.468 -1.764 -0.122 3.587 1.408 -6.826
-0.614 2.326 -5.303 -0.281 2.991 0.412
0.563 -0.135 -0.314 1.376 0.434 -0.968
-0.111 -0.427 0.267 -0.092 1.157 0.115
0.049 -0.013 -0.000 0.028 0.010 0.947
x : 0.000 -0.000 -0.000 -0.000 -0.000 -0.000
J#x : -0.015 0.016 0.026 -0.010 -0.042 0.018
Ny : 0.001 0.004 -0.016 0.001 0.012 -0.002
dav : -0.013 0.019 0.010 -0.009 -0.030 0.016
dav^ : -0.013 0.019 0.010 -0.009 -0.030 0.016
loop: 5
union-link-list: (J1 J2 J3 J4 J5 J6)
move-target: (#<cascaded-coords #X56523e3ea378 :rarm-end-coords 172.506 -82.751 396.45 / -0.113 0.543 0.101>)
targe-coordst: (#<coordinates #X56523e52f128 172.487 -82.762 396.376 / -0.113 0.543 0.101>)
vel-pos : 0.023 -0.021 -0.070
vel-rot : -0.000 -0.000 0.000
vel-pos-norm : 0.077/ 0.100
vel-rot-norm : 0.000/ 0.017
#f(-10.0751 -15.4211 117.336 4.1533 -70.569 1.72758)
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