Couldn't open file /opt/ros/kinetic/share/hsr_meshes/meshes/torso_v0/torso.std

[yani-rl-ai]

HI @rshi159 thank you for sharing your code.
i am interested to learn your code, i am a HSR user, but i get an error when i execute
./hsr_wrs_world_pick_and_place_full
i got this following error :
[ INFO] [1602430416.810198746]: Loading robot model 'hsrb'...
[ERROR] [1602430416.812087122]: Error retrieving file [file:///opt/ros/kinetic/share/hsr_meshes/meshes/torso_v0/torso.std]: Couldn't open file /opt/ros/kinetic/share/hsr_meshes/meshes/torso_v0/torso.std

Setup Scene<<
[-0.3 0.2 0.45]
IK Step 1<<
[ 2.65 -1.0987 0.56 ]
IK Step 2<<
[-0.91763856 0.37499606 -0.58251285 0. -0.958246 0.67344977
-0.97403164 2.57199005]
[ 2.11428074 -0.97184923 -0.59021315 0. -0.5655785 0.58611913
-1.20048822 -0.15060385]
q_goal_approach valid? True
q_goal_approach valid? True
Check IKs<<
Writing to File
Created Base Trajectory<<
[EXOTica]: [Sum of Penetrations] World Margin: 0.03 Robot Margin: 0.01
problem with setting base orientation
[-2.1 1.2 -1.57 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.

1. 0. 0. ]
         ======
         first pass
         ======
         Traceback (most recent call last):
         File "./hsr_wrs_world_pick_and_place_full", line 470, in
         solution, midpoint = planner.solve_aico(t_grasp_begin, t_grasp_duration, t_duration, grasp = True)
         File "./hsr_wrs_world_pick_and_place_full", line 165, in solve_aico
         q_start = problem.apply_start_state(True)
         AttributeError: 'pyexotica._pyexotica.Problems.UnconstrainedTimeInd' object has no attribute 'apply_start_state'

can you help me to solve? thank you

[wxmerkt]

Hi Mohamad,
This is an error in the hsr_description package. A patch is open upstream: ToyotaResearchInstitute/hsr_description#9. If you build the HSR description package with this PR change locally it should work.

The second error seems like it could be from a different Exotica version. Which one did you install? You might have to build from source as well.

Best wishes,
Wolfgang