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Hi Travis,
Excellent blog as always.
I was playing around with your ur5_ctrl.py example and I am running into this funny error where I can run the code from outside an IDE like so:
[90] → python ur5_ctrl.py
Connected to remote API server
Generating transform function for EE
connection closed...
Traceback (most recent call last):
File "ur5_ctrl.py", line 364, in <module>
ax.plot([track_hand[0, 0]],
IndexError: too many indices for array
If I then run it inside and IDE like sublime or a notebook, I get the same error above once, but then if I try to run it again I get this rather worrying chunk of stuff:
Connected to remote API server
Generating transform function for EE
connection closed...
---------------------------------------------------------------------------
TypeError Traceback (most recent call last)
<ipython-input-2-d8786628c253> in <module>()
149 # calculate position of the end-effector
150 # derived in the ur5 calc_TnJ class
--> 151 xyz = robot_config.Tx('EE', q)
152
153 # calculate the Jacobian for the end effector
/Users/nd/cloud/control/src/vrep/ur5.pyc in Tx(self, name, q, x)
213 # both have their own transform calculated with this check
214 self._Tx[name] = self._calc_Tx(
--> 215 name, x=x)
216 parameters = tuple(q) + tuple(x)
217 return self._Tx[name](*parameters)[:-1].flatten()
/Users/nd/cloud/control/src/vrep/ur5.pyc in _calc_Tx(self, name, x, lambdify)
384 if (os.path.isfile('%s/%s.T' % (self.config_folder, name))):
385 Tx = cloudpickle.load(open('%s/%s.T' %
--> 386 (self.config_folder, name), 'rb'))
387 else:
388 T = self._calc_T(name=name)
/Users/nd/anaconda2/lib/python2.7/pickle.pyc in load(file)
1382
1383 def load(file):
-> 1384 return Unpickler(file).load()
1385
1386 def loads(str):
/Users/nd/anaconda2/lib/python2.7/pickle.pyc in load(self)
862 while 1:
863 key = read(1)
--> 864 dispatch[key](self)
865 except _Stop, stopinst:
866 return stopinst.value
/Users/nd/anaconda2/lib/python2.7/pickle.pyc in load_reduce(self)
1137 args = stack.pop()
1138 func = stack[-1]
-> 1139 value = func(*args)
1140 stack[-1] = value
1141 dispatch[REDUCE] = load_reduce
/Users/nd/anaconda2/lib/python2.7/site-packages/sympy/core/numbers.pyc in __new__(cls, num, prec)
823 else:
824 _mpf_ = mpmath.mpf(
--> 825 S.NegativeOne**num[0]*num[1]*2**num[2])._mpf_
826 elif isinstance(num, Float):
827 _mpf_ = num._mpf_
TypeError: can't multiply sequence by non-int of type 'float'
Do you know why it might be doing that?
EDIT:
The issue seems to be with cloudpickle
If I do
Tx = cloudpickle.load((open('%s/%s.T' % ('ur5_config', 'EE'), 'rb')))
I get
---------------------------------------------------------------------------
TypeError Traceback (most recent call last)
<ipython-input-5-d19e02c244b8> in <module>()
----> 1 Tx = cloudpickle.load((open('%s/%s.T' % ('ur5_config', 'EE'), 'rb')))
/usr/local/Cellar/python/2.7.13/Frameworks/Python.framework/Versions/2.7/lib/python2.7/pickle.pyc in load(file)
1382
1383 def load(file):
-> 1384 return Unpickler(file).load()
1385
1386 def loads(str):
/usr/local/Cellar/python/2.7.13/Frameworks/Python.framework/Versions/2.7/lib/python2.7/pickle.pyc in load(self)
862 while 1:
863 key = read(1)
--> 864 dispatch[key](self)
865 except _Stop, stopinst:
866 return stopinst.value
/usr/local/Cellar/python/2.7.13/Frameworks/Python.framework/Versions/2.7/lib/python2.7/pickle.pyc in load_reduce(self)
1137 args = stack.pop()
1138 func = stack[-1]
-> 1139 value = func(*args)
1140 stack[-1] = value
1141 dispatch[REDUCE] = load_reduce
/usr/local/lib/python2.7/site-packages/sympy/core/numbers.pyc in __new__(cls, num, prec)
823 else:
824 _mpf_ = mpmath.mpf(
--> 825 S.NegativeOne**num[0]*num[1]*2**num[2])._mpf_
826 elif isinstance(num, Float):
827 _mpf_ = num._mpf_
TypeError: can't multiply sequence by non-int of type 'float'
I think, possibly, maybe, there is an issue with the files in ur5_config/ - surely I should be able to use the ones on this repo and not process them myself (it takes a few hours as you have noted :)
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