Any attempt to jog the robot in world mode causes a flood of kinematics errors in the kernel log, which eventually freezes the computer. Attached are the HAL file for this configuration and a sample of the errors output by dmesg
We have also used genserkins from the command line to test our parameters, it also throws errors and does not solve the kinematics (forward or inverse). We tried command line genserkins with the default PUMA config also (the one that uses genserkins, not pumakins) and it will solve a forward or inverse kinematics solution, AND throws errors at the same time. If anyone has any insight into why this is happening, any information would be greatly appreciated. Thanks! Alyssa Wells
kuka_sim_6.hal
Description: kuka_sim_6.hal
[92107.768149] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.769151] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.770146] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.771141] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.772133] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.773132] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.774130] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.775129] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.776125] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.777122] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.778120] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.779116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.780109] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.781110] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.782108] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.783106] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.784116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.785116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.786106] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.787112] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.788094] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.789096] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.790091] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.791089] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.792083] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.793084] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.794078] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.795077] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.796068] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.797075] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.798073] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.799069] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.800060] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.801061] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.802059] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.803060] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.804047] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.805048] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.806046] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.807049] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.808040] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.809047] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.810039] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0) [92107.811040] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
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