dex-net
dex-net copied to clipboard
BerkeleyAutomation
Unable to display object
Trying to install dex-net on Jetson TX2 with ROS Kinetic on Ubuntu 16.04 LTS but I am getting a bunch of errors.
Running python apps/dexnet_cli.py and selecting an object from example.hdf5 as mentioned here leads to the following errors.
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
WARNING:root:Failed to import ROS in Kinect2_sensor.py. Kinect will not be able to be used in bridged mode
WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly
WARNING:root:Unable to import pyrealsense2.
WARNING:root:Failed to import ROS in ensenso_sensor.py. ROS functionality not available
WARNING:root:Failed to import ROS in phoxi_sensor.py. PhoXiSensor functionality unavailable.
root WARNING Failed to import gqcnn! Grasp2D functions will not be available.
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
root WARNING Failed to import OpenRAVE
root WARNING Failed to import mayavi
root WARNING Failed to import OpenRAVE
dexnet.api WARNING Failed to import DexNetVisualizer3D, visualization methods will be unavailable
Because of this I cannot visualize the models.
I have also installed Dexnet from the installation instructions given https://docs.google.com/document/d/1YImq1cBTy9E1n1On6-00gueDT4hfmYJK4uOcxZIzPoY/edit I am running Ubuntu 16.04 LTS with ROS Kinetic. I am having the same error as you. Did you find a work around for this issue?
I also have meet same problem. I can not import the gqcnn and Dexnetvisualizer3D and visualization. I install dex-net and pass the: python setup.py test.
I install dex-net package on Ubuntu16.04 and ROS-Kinetic. I choose sudo sh install.sh gpu ros to install the package
running test
WARNING: Testing via this command is deprecated and will be removed in a future version. Users looking for a generic test entry point independent of test runner are encouraged to use tox.
running egg_info
writing requirements to src/dex_net.egg-info/requires.txt
writing src/dex_net.egg-info/PKG-INFO
writing top-level names to src/dex_net.egg-info/top_level.txt
writing dependency_links to src/dex_net.egg-info/dependency_links.txt
reading manifest file 'src/dex_net.egg-info/SOURCES.txt'
writing manifest file 'src/dex_net.egg-info/SOURCES.txt'
running build_ext
/usr/local/lib/python2.7/dist-packages/requests/__init__.py:83: RequestsDependencyWarning: Old version of cryptography ([1, 2, 3]) may cause slowdown.
warnings.warn(warning, RequestsDependencyWarning)
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
WARNING:root:Failed to import ROS in Kinect2_sensor.py. Kinect will not be able to be used in bridged mode
WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly
WARNING:root:Unable to import pyrealsense2.
WARNING:root:Failed to import ROS in ensenso_sensor.py. ROS functionality not available
WARNING:root:Failed to import ROS in phoxi_sensor.py. PhoXiSensor functionality unavailable.
WARNING:tensorflow:From /home/fattyhu/catkin_ws/src/gqcnn/gqcnn/utils/enums.py:44: The name tf.RunOptions is deprecated. Please use tf.compat.v1.RunOptions instead.
WARNING:tensorflow:From /home/fattyhu/catkin_ws/src/gqcnn/gqcnn/utils/enums.py:44: The name tf.RunOptions is deprecated. Please use tf.compat.v1.RunOptions instead.
OpenGL.acceleratesupport INFO OpenGL_accelerate module loaded
OpenGL.arrays.arraydatatype INFO Using accelerated ArrayDatatype
root WARNING Failed to import gqcnn! Grasp2D functions will not be available.
dexnet.api WARNING Failed to import DexNetVisualizer3D, visualization methods will be unavailable
test_illegal_create (test.database_test.Hdf5DatabaseTest) ... ok
test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest) ... Input mesh /home/fattyhu/catkin_ws/src/dex-net/data/test/models/bar_clamp.obj
output mesh /home/fattyhu/catkin_ws/src/dex-net/.dexnet/bar_clamp_proc.obj
Loading Plugins:
Current Plugins Dir is: /usr/lib/meshlab/plugins
Error in XMLFile: filter_measure.xml - line: -1, column: -1 -
Error in XMLFile: filter_mutualinfo.xml - line: -1, column: -1 -
Total 227 filtering actions
Total 13 io plugins
Opening a file with extention obj
Mesh bar_clamp.obj loaded has 1428 vn 476 fn
No Script to apply.
Mesh /home/fattyhu/catkin_ws/src/dex-net/data/test/models/bar_clamp.obj saved as /home/fattyhu/catkin_ws/src/dex-net/.dexnet/bar_clamp_proc.obj (1428 vn 476 fn)
root INFO MeshlabServer Command: meshlabserver -i "data/test/models/bar_clamp.obj" -o ".dexnet/bar_clamp_proc.obj"
Reading data.
Warning: 9 lines were ignored since they did not contain faces or vertices.
Read in 1428 vertices and 476 faces.
Resolution: 0.000716689 with real dimension 0.064502
Center of grid 0 0 0
Bound box size: (-0.0358344 -0.0358344 -0.0358344) to (0.021729 0.02 0.032251) with dimensions 100 100 100.
Computing signed distance field.
Writing results to: .dexnet/bar_clamp_proc.sdf
Processing complete.
root INFO SDF Command: SDFGen ".dexnet/bar_clamp_proc.obj" 100 5
root INFO Returning datum bar_clamp
root WARNING No rendered images of type segmask for stable pose pose_0
root WARNING No rendered images of type depth for stable pose pose_0
root WARNING No rendered images of type scaled_depth for stable pose pose_0
ok
test_antipodal_grasp_sampler (test.grasping_test.GraspTest) ... root INFO Num surface: 30160
root INFO 21/100 grasps found after iteration 1.
root INFO Num surface: 30160
root INFO 35/100 grasps found after iteration 2.
root INFO Num surface: 30160
root INFO 50/100 grasps found after iteration 3.
root INFO Found 50 grasps.
ok
test_contacts (test.grasping_test.GraspTest) ... root INFO 35/100 grasps found after iteration 1.
root INFO 61/100 grasps found after iteration 2.
root INFO 95/100 grasps found after iteration 3.
root INFO Found 95 grasps.
ok
test_find_contacts (test.grasping_test.GraspTest) ... ok
test_force_closure (test.grasping_test.GraspTest) ... ok
test_grasp_quality_functions (test.grasping_test.GraspTest) ... root INFO 27/100 grasps found after iteration 1.
root INFO 58/100 grasps found after iteration 2.
root INFO 86/100 grasps found after iteration 3.
root INFO Found 86 grasps.
ok
test_init_grasp (test.grasping_test.GraspTest) ... ok
test_init_graspable (test.grasping_test.GraspTest) ... ok
test_init_gripper (test.grasping_test.GraspTest) ... ok
test_min_norm_vector_in_facet (test.grasping_test.GraspTest) ... ok
test_wrench_in_positive_span (test.grasping_test.GraspTest) ... ok
test_gaussian_uniform_alloc (test.learning_test.LearningTest) ... ok
test_thompson_sampling (test.learning_test.LearningTest) ... ok
test_uniform_alloc (test.learning_test.LearningTest) ... ok
----------------------------------------------------------------------
Ran 15 tests in 98.412s
OK
Traceback (most recent call last):
File "/usr/lib/python2.7/logging/__init__.py", line 861, in emit
msg = self.format(record)
File "/usr/lib/python2.7/logging/__init__.py", line 734, in format
return fmt.format(record)
File "/usr/local/lib/python2.7/dist-packages/colorlog/colorlog.py", line 112, in format
record = ColoredRecord(record)
TypeError: 'NoneType' object is not callable
Logged from file core.py, line 454
浮点数例外 (核心已转储)
And when I python apps/dexnet_cli.py . I cannot display the object.
warnings.warn(warning, RequestsDependencyWarning)
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
WARNING:root:Failed to import ROS in Kinect2_sensor.py. Kinect will not be able to be used in bridged mode
WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly
WARNING:root:Unable to import pyrealsense2.
WARNING:root:Failed to import ROS in ensenso_sensor.py. ROS functionality not available
WARNING:root:Failed to import ROS in phoxi_sensor.py. PhoXiSensor functionality unavailable.
WARNING:tensorflow:From /home/fattyhu/catkin_ws/src/gqcnn/gqcnn/utils/enums.py:44: The name tf.RunOptions is deprecated. Please use tf.compat.v1.RunOptions instead.
WARNING:tensorflow:From /home/fattyhu/catkin_ws/src/gqcnn/gqcnn/utils/enums.py:44: The name tf.RunOptions is deprecated. Please use tf.compat.v1.RunOptions instead.
OpenGL.acceleratesupport INFO OpenGL_accelerate module loaded
OpenGL.arrays.arraydatatype INFO Using accelerated ArrayDatatype
root WARNING Failed to import gqcnn! Grasp2D functions will not be available.
dexnet.api WARNING Failed to import DexNetVisualizer3D, visualization methods will be unavailable
####################################################
DEX-NET 0.1 Command Line Interface
Brought to you by AutoLab, UC Berkeley
####################################################
AVAILABLE COMMANDS:
0) Open a database
1) Open a dataset
2) Display object
3) Display stable poses for object
4) Display grasps for object
5) Generate simulation data for object
6) Compute metadata
7) Display metadata
8) Export objects
9) Set config (advanced)
10) Quit
Enter a numeric command: 0
Enter database name: example
Opened database example.hdf5
Database has one dataset, opened dataset mini_dexnet
AVAILABLE COMMANDS:
0) Open a database
1) Open a dataset
2) Display object
3) Display stable poses for object
4) Display grasps for object
5) Generate simulation data for object
6) Compute metadata
7) Display metadata
8) Export objects
9) Set config (advanced)
10) Quit
Enter a numeric command: 2
Available values:
bar_clamp
climbing_hold
endstop_holder
gearbox
mount1
mount2
nozzle
part1
part3
pawn
pipe_connector
turbine_housing
vase
Enter object key: bar_clamp
dexnet.api INFO Displaying bar_clamp
Display object failed: global name 'vis' is not defined
AVAILABLE COMMANDS:
0) Open a database
1) Open a dataset
2) Display object
3) Display stable poses for object
4) Display grasps for object
5) Generate simulation data for object
6) Compute metadata
7) Display metadata
8) Export objects
9) Set config (advanced)
10) Quit
Enter a numeric command:
Can anyone tell me how to fix it? Thanks very much!!! @jeffmahler
I had the same error message "Display object failed: global name 'vis' is not defined". In my case, I could not execute line 50 (importing DexNetVisualizer3D as vis) in src/dexnet/api.py. When trying to import it in the python interpreter, I was able to figure out which packages where missing. Hope this helps.
Hi @anmakon , Could you please explain how you get to solve the problem and what packages are missing? Thank you
Hi @raialonso8,
I don't remember what packages were missing at that stage. I had lots of clashing/missing dependencies in total.
To figure out which packages were missing, I ran grep -rnw "whatever-error-message-was-being-displayed" . from the dexnet repo. That showed me in which file and which line the error message was created. Afterwards, I've run that line (in my case from dexnet.visualization import DexNetVisualizer3D as vis) from the python interpreter. Without the try..catch from the original file, it tells you which packages are missing in your system. I guess you could also modify the files a bit/remove the try..catch temporarily to figure out which dependencies you're missing.
Hope this helps.
Thanks for the quick answer @anmakon . I really appreciate it
I have ran from dexnet.visualization import DexNetVisualizer3D and this is the error message I have got. I cannot see which packages are missing, could you help me?
Python 2.7.12 (default, Apr 15 2020, 17:07:12) [GCC 5.4.0 20160609] on linux2 Type "help", "copyright", "credits" or "license" for more information.
from dexnet.visualization import DexNetVisualizer3D as vis WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable Unable to import meshrender shared library! Rendering will not work. Likely due to missing Boost.Numpy Boost.Numpy can be installed following the instructions in https://github.com/ndarray/Boost.NumPy /home/rai/.local/lib/python2.7/site-packages/requests/init.py:91: RequestsDependencyWarning: urllib3 (1.25.9) or chardet (2.3.0) doesn't match a supported version! RequestsDependencyWarning) /home/rai/.local/lib/python2.7/site-packages/requests/init.py:83: RequestsDependencyWarning: Old version of cryptography ([1, 2, 3]) may cause slowdown. warnings.warn(warning, RequestsDependencyWarning) WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly. WARNING:root:Unable to import pyrealsense2. WARNING:root:Failed to import ROS in phoxi_sensor.py. PhoXiSensor functionality unavailable. WARNING:tensorflow: The TensorFlow contrib module will not be included in TensorFlow 2.0. For more information, please see: https://github.com/tensorflow/community/blob/master/rfcs/20180907-contrib-sunset.md https://github.com/tensorflow/addons https://github.com/tensorflow/io (for I/O related ops) If you depend on functionality not listed there, please file an issue.
WARNING:tensorflow:From /home/rai/catkin_ws/src/dex-net/deps/gqcnn/gqcnn/utils/enums.py:40: The name tf.RunOptions is deprecated. Please use tf.compat.v1.RunOptions instead.
root WARNING Failed to import gqcnn! Grasp2D functions will not be available.
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
root WARNING Failed to import mayavi
OpenGL.acceleratesupport INFO No OpenGL_accelerate module loaded: No module named OpenGL_accelerate
dexnet.api WARNING Failed to import DexNetVisualizer3D, visualization methods will be unavailable
Traceback (most recent call last):
File "
File "_build/bdist.linux-x86_64/egg/pyglet/window/init.py", line 129, in
File "/usr/local/lib/python2.7/dist-packages/pyglet-2.0.dev0-py2.7.egg/pyglet/matrix.py", line 78 return matrix @ rmat ^ SyntaxError: invalid syntax
I haven't encountered the issue that you have here, so I'm afraid I can't really help you solve it. Seems like something within pyglet/pyrender isn't working properly? Maybe it's the version, I've installed pyglet 1.4.0b1 and pyrender 0.1.36 instead.
I should also mention that I never got everything to work with dexnet and just switched to using gqcnn after a couple weeks of frustration. It provided all the functionality that I needed and is significantly easier to install, might be worth a look depending on what you're planning to do.. Good luck!
@raialonso8 Yes, @anmakon is right in that pyglet dropped Python 2.7 compatibility in their most recent releases. I believe the last compatible one is 1.4.10.
