TypeError: cannot determine truth value of Relational

[yushuiqiang]

PS D:\mingw64lib\OpenRAVE\bin> python `D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py --robot=robots/barrettwam.robot.xml --baselink=0 --eelink=7 --savefile=ik.cpp --freeindex=2

Traceback (most recent call last):
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 9631, in
chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 2332, in generateIkSolver
chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 2927, in solveFullIK_6D
tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 3015, in TestIntersectingAxes
return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 3219, in solve6DIntersectingAxes
rottree += self.SolveAllEquations(AllEquations,curvars=currotvars,othersolvedvars=othersolvedvars,solsubs=self.freevarsubs[:],endbranchtree=storesolutiontree)
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 6931, in SolveAllEquations
rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 8935, in SolvePairVariables
return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 7806, in SolvePairVariablesHalfAngle
possiblefinaleq = self.checkFinalEquation(Poly(peq.LC(),leftvar),subs)
File "D:\mingw64lib\OpenRAVE\lib\site-packages\openravepy_openravepy_/ikfast.py", line 8248, in checkFinalEquation
if len(coeffs) == 1 and Abs(coeffs[0]) < 2*(10.0**-self.precision):
File "C:\Python\Python37\lib\site-packages\sympy\core\relational.py", line 511, in bool
raise TypeError("cannot determine truth value of Relational")
TypeError: cannot determine truth value of Relational

[cielavenir]

Maybe you need sympy==0.7.1?

[yushuiqiang]

PS C:\Users\86159> pip install sympy
Looking in indexes: https://mirrors.aliyun.com/pypi/simple
Requirement already satisfied: sympy in c:\python\python37\lib\site-packages (1.10.1)
Requirement already satisfied: mpmath>=0.19 in c:\python\python37\lib\site-packages (from sympy) (1.2.1)

[cielavenir]

@yushuiqiang it should be fixed by #1391