Error in RunExampleCase (line : eePositionTask = EETask(robot, 1.0, 10.0, 0.2);)
moucrob opened this issue · 4 comments
Can't run RunExampleCase.
What matlab says, after i ran add_compatibility_and_feasability_path (no prob), then RunExampleCase :
Index exceeds matrix dimensions.
Error in EETask (line 15)
obj.pos_ref = obj.pos_ref(1:3,4);Error in RunExampleCase (line 33)
eePositionTask = EETask(robot, 1.0, 10.0, 0.2);
Then, by removing the semicolon in end of the line line 14, so that it displays me obj.pos_ref = obj.R.fkine(qn) :
obj =
EETask with properties:
R: [1×1 SerialLink] weight: 1 kp: 10 kd: 6.3246 J: [] E: [] f: [] acc_des: [] tau: [] acc_ref: [3×1 double] vel_ref: [3×1 double] **pos_ref: [1×1 SE3]** using_trajectory: 0 using_spline_trajectory: [] pos_des: [] start_pos: [] alpha: [] pointToPointDuration: 0 first_traj_call: [] t0: [] references: {} desired_accelerations: {} desired_acceleration_norms: {} max_vel: 0.2000 qp_options: [1×1 struct] real_pos: [] spline_traj: []
what does obj.R.fkine(qn) please?
obj.R.fkine(qn)
computes the forward kinematics of the manipulator and gives you the pose of the end effector.
instead of removing the semicolon from line 14, obj.pos_ref = obj.R.fkine(qn)
, please add the following:
obj.pos_ref = obj.R.fkine(qn);
disp(obj.pos_ref)
obj.pos_ref = obj.pos_ref(1:3,4);
The output should look like this:
0 0.0000 1.0000 0.5963
-0.0000 1.0000 -0.0000 -0.1501
-1.0000 -0.0000 0.0000 -0.0144
0 0 0 1.0000
Also, did you fix the robotics toolbox path?
About the path, i moved the repository rvctools out of the repository tcfm-master. Now i have both on my desktop.
About your displayer, i dit what you said, and it still shows me :
add_compatibility_and_feasibility_path
Robotics, Vision & Control: (c) Peter Corke 1992-2011 http://www.petercorke.com
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Robotics Toolbox for MATLAB (release 10.1)
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ARTE contributed code: 3D models for robot manipulators (C:\Users\Mathias\Desktop\rvctools\robot\data\ARTE)
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pHRIWARE (release 1.1): pHRIWARE is Copyrighted by Bryan Moutrie (2013-2017) (c)
Run rtbdemo to explore the toolbox
ans ='running example: temporally_incompatible_tasks'
Index exceeds matrix dimensions.
Error in EETask (line 16)
obj.pos_ref = obj.pos_ref(1:3,4);
Error in RunExampleCase (line 33)
eePositionTask = EETask(robot, 1.0, 10.0, 0.2);
So i don't have your output sorry
The error was caused by a version difference between the robotics toolboxes used. Versions >9 use SE3 group objects instead of 4x4 matrices.