Hello, I try to display the object in database example.hdf5, but there is nothing displayed in window and the error is like

Enter object key: nozzle
INFO:dexnet.api:Displaying nozzle
Display object failed: 'module' object has no attribute 'set_fps_limit'

Could you help me? Thanks very much!

I am looking for the HDF5 database to run generate_gqcnn_dataset.py on but for some reason I cannot find it.

Here I am not refering to the one which has a size of 13.8 GB (link but I am looking for the smaller dataset which has a size of 1.1 GB.

Please share the link where I could download that from.

Thanks!

Hi, I've installed the dex-net successfully in ROS mode. I run the scripts to download the datasets and models to try some examples:
$ cd /path/to/your/gqcnn
$ ./scripts/downloads/download_example_data.sh
$ ./scripts/downloads/models/download_models.sh

but either of the dataset or models can be downloaded. the Info looks like below:

#################     dataset      ##################
～$: wget -O GQCNN-2.0.zip https://berkeley.box.com/shared/static/j4k4z6077ytucxpo6wk1c5hwj47mmpux.zip
--2019-07-25 10:25:29--  https://berkeley.box.com/shared/static   /j4k4z6077ytucxpo6wk1c5hwj47mmpux.zip
Resolving berkeley.box.com (berkeley.box.com)... 103.116.4.197
Connecting to berkeley.box.com (berkeley.box.com)|103.116.4.197|:443... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: /public/static/j4k4z6077ytucxpo6wk1c5hwj47mmpux.zip [following]
--2019-07-25 10:25:29--  https://berkeley.box.com/public/static/j4k4z6077ytucxpo6wk1c5hwj47mmpux.zip
Reusing existing connection to berkeley.box.com:443.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: https://berkeley.app.box.com/public/static/j4k4z6077ytucxpo6wk1c5hwj47mmpux.zip [following]
--2019-07-25 10:25:30--  https://berkeley.app.box.com/public/static/j4k4z6077ytucxpo6wk1c5hwj47mmpux.zip
Resolving berkeley.app.box.com (berkeley.app.box.com)... 8.7.198.45
Connecting to berkeley.app.box.com (berkeley.app.box.com)|8.7.198.45|:443... failed: Connection refused.

Can anyone help me ? Thanks .

When trying to display an object either from dexnet_cli or through API the following error occurs:

Display grasps failed: Must provide a trimesh.Trimesh object

Do you have any solutions?

Currently on Ubuntu 16.04 and followed the Installation Instructions and got stuck on an error.

When I tried to do python setup.py test

The error I received was error: [Errno 13] Permission denied: src/dex_net.egg-info/requires.txt
I saw that a command on the manual instruction sudo chmod u+rx src/dex_net.egg-info would fix it, however, the error continues to appear. I have also tried doing the manual download and that had its own complications and failures. Could anyone share some insight how they got theirs running?

Hello,

I am new to the topic dex-net and now I am reading all these codes.

I only find a python file called "generate_gqcnn_dataset.py" for generating the quality metric for each grasp. However I havn't seen any calculation which involves probability calculation for observation model, grasp candidate etc, which is mentioned in the second paper "Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds adn Analytic Grasp Metrics" in chapter 4.

Please tell me if I have missed something or which file is designed for the robustness function.

Thank you very much!

Hello,
I have following question. I am trying to understand your bin picking application. However I am not understanding how the grasping points for the input of the network is samples. Do I have to segment the objects firstly and then generate the grasping point candidates?

Best regards

Hello,

Your version of meshpy seems to have disappeared (https://github.com/BerkeleyAutomation/meshpy.git)
I have tried to use the standard version, but it seems there are important changes you have made to it in your version.

Thanks.

I met a problem when I try to run visualize_gqcnn_dataset.py to show the dataset like adv_synth. It failed at line439 tensor_dataset.py because there has no file "config.json", where I can find it? Thanks very much.

line439 tensor_dataset.py
config_filename = os.path.join(dataset_dir, 'config.json')

After installation, testing with

"python setup.py test"

gives me the error

AttributeError: 'module' object has no attribute 'learning_test'

and I'm not able to start the dexnet CLI. Do you know how I can fix this?
I'm using Ubuntu 16 and have Python 2.7.11+

Thank you very much in advance!

The full output of "python setup.py test" is giving me:
running test
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
Traceback (most recent call last):
File "setup.py", line 42, in
test_suite='test'
File "/usr/local/lib/python2.7/dist-packages/setuptools/init.py", line 129, in setup
return distutils.core.setup(**attrs)
File "/usr/lib/python2.7/distutils/core.py", line 151, in setup
dist.run_commands()
File "/usr/lib/python2.7/distutils/dist.py", line 953, in run_commands
self.run_command(cmd)
File "/usr/lib/python2.7/distutils/dist.py", line 972, in run_command
cmd_obj.run()
File "/usr/local/lib/python2.7/dist-packages/setuptools/command/test.py", line 226, in run
self.run_tests()
File "/usr/local/lib/python2.7/dist-packages/setuptools/command/test.py", line 248, in run_tests
exit=False,
File "/usr/lib/python2.7/unittest/main.py", line 94, in init
self.parseArgs(argv)
File "/usr/lib/python2.7/unittest/main.py", line 149, in parseArgs
self.createTests()
File "/usr/lib/python2.7/unittest/main.py", line 158, in createTests
self.module)
File "/usr/lib/python2.7/unittest/loader.py", line 130, in loadTestsFromNames
suites = [self.loadTestsFromName(name, module) for name in names]
File "/usr/lib/python2.7/unittest/loader.py", line 103, in loadTestsFromName
return self.loadTestsFromModule(obj)
File "/usr/local/lib/python2.7/dist-packages/setuptools/command/test.py", line 52, in loadTestsFromModule
tests.append(self.loadTestsFromName(submodule))
File "/usr/lib/python2.7/unittest/loader.py", line 100, in loadTestsFromName
parent, obj = obj, getattr(obj, part)
AttributeError: 'module' object has no attribute 'learning_test'

Hi, i am new to this work.
I know that "torque_scaling" is to combine torque and force into a wrench.
But how large should this parameter be set?

Hi there,
Thanks for providing this excellent code, it's very useful!

I found a place that might be a bug:
Currently, the approach collision in close_fingers() function in ParallelJawPtGrasp3D class in dex-net/src/dexnet/grasping/grasp.py, the num_approach_samples is obtained by:

num_approach_samples = int(Grasp.samples_per_grid * approach_dist / 2)

but it seems the approach_dist should be changed as grid in order to get the num_approach_samples:

approach_dist_grid = obj.sdf.transform_pt_obj_to_grid(approach_dist)
num_approach_samples = int(Grasp.samples_per_grid * approach_dist_grid / 2)

Thanks again for excellent code.

This file not exist: /path/to/your/meshpy/meshpy/meshrender.so

And I run
sh install_meshrender.sh
in the folder /path/to/your/meshpy
appear：
cannot stat ‘meshpy/meshrender.so’: No such file or directory

but I run
python setup.py develop
in /deps/meshpy
Finished processing dependencies for meshpy==0.1.0 appear
How can I obtain meshrender.so

I follow the demo, shown in "Dex-Net CLI.docx"
My setup is shown as follows:
gripper:yumi_metal_spline
object key:part1
object key:robust_ferrari_canny
After calculation, the terminal shows:

Actually, no grasp shows in the screen

Any suggestions for this problem?

Hello!

When running the CLI, I get a bunch of import errors

WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:Unable to import CNN modules! Likely due to missing tensorflow.
WARNING:root:TensorFlow can be installed following the instructions in https://www.tensorflow.org/get_started/os_setup
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:primesense_sensor.py not installed as catkin package. ROS functionality not available.
WARNING:root:Unable to import pyrealsense2.
WARNING:root:realsense_sensor.py not installed as catkin package. ROS functionality not available.
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:root:Failed to import gqcnn! Grasp2D functions will not be available.
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import pyhull
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi

You can see that it particularly says "root:Failed to import..."

My question is, why is this program searching for libraries as root? All the package paths are not locatable as root, which is expected, right?

I say this because if I run:

python
import mayavi

I get no problems.

If I run

sudo -i
python
import mayavi

I get: ImportError: No module named mayavi

As a result, I can't visualize anything.

Hi, i have read the code about the ferrari_canny_L1().
And i have two questions:

1. It seems that this code does not do the judgement about whether or not zero is in the convex hull.
   it use whether min_norm_in_hull is larger than a threshold. I think this may not be able to illustrate this point.

2. I can not understand,min_norm_in_hull has been calculated by the following code:
   min_norm_in_hull, v = PointGraspMetrics3D.min_norm_vector_in_facet(G, wrench_regularizer=wrench_regularizer)
   While this distance is calculated again later by the following code:
   for v in hull.vertices:
   if np.max(np.array(v)) < G.shape[1]: # because of some occasional odd behavior from pyhull
   facet = G[:, v]
   dist, _ = PointGraspMetrics3D.min_norm_vector_in_facet(facet, wrench_regularizer=wrench_regularizer)
   if dist < min_dist:
   min_dist = dist
   closest_facet = v
   I think both of them use the convex hull of G to calculate that distance.

After hunting for broken dependencies, the installation is successful but the test is unsuccessful. Here are the results. It's hard to sift through with all the warnings but there are errors in several places. Let me know what info you need and anything I can do to help.

sudo python setup.py test

running test
Searching for dill
Reading https://pypi.org/simple/dill/
Downloading https://files.pythonhosted.org/packages/fe/42/bfe2e0857bc284cbe6a011d93f2a9ad58a22cb894461b199ae72cfef0f29/dill-0.2.9.tar.gz#sha256=f6d6046f9f9195206063dd0415dff185ad593d6ee8b0e67f12597c0f4df4986f
Best match: dill 0.2.9
Processing dill-0.2.9.tar.gz
Writing /tmp/easy_install-Rq9WAV/dill-0.2.9/setup.cfg
Running dill-0.2.9/setup.py -q bdist_egg --dist-dir /tmp/easy_install-Rq9WAV/dill-0.2.9/egg-dist-tmp-NIXNL8
creating /home/evan/dex-net-python/dex-net/.eggs/dill-0.2.9-py2.7.egg
Extracting dill-0.2.9-py2.7.egg to /home/evan/dex-net-python/dex-net/.eggs

Installed /home/evan/dex-net-python/dex-net/.eggs/dill-0.2.9-py2.7.egg
running egg_info
error: [Errno 13] Permission denied: 'src/dex_net.egg-info'
evan@evan:~/dex-net-python/dex-net$ sudo python setup.py test
[sudo] password for evan: 
running test
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
WARNING:root:Failed to import geometry msgs in rigid_transformations.py.
WARNING:root:Failed to import ros dependencies in rigid_transforms.py
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
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:Unable to import CNN modules! Likely due to missing tensorflow.
WARNING:root:TensorFlow can be installed following the instructions in https://www.tensorflow.org/get_started/os_setup
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:Failed to import ROS in primesense_sensor.py. ROS functionality not available
WARNING:root:primesense_sensor.py not installed as catkin package. ROS functionality not available.
WARNING:root:Unable to import pyrealsense2.
WARNING:root:Failed to import ROS in realsense_sensor.py. ROS functionality not available
WARNING:root:realsense_sensor.py not installed as catkin package. ROS functionality not available.
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:root:Unable to import weight sensor modules!
WARNING:root:Failed to import gqcnn! Grasp2D functions will not be available.
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import pyhull
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:dexnet.api:Failed to import DexNetVisualizer3D, visualization methods will be unavailable
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
test_antipodal_grasp_sampler (test.grasping_test.GraspTest) ... ERROR:root:Singular matrix. Probably a bug
ok
test_contacts (test.grasping_test.GraspTest) ... 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) ... 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_illegal_create (test.database_test.Hdf5DatabaseTest) ... ok
test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest) ... Input mesh  /home/evan/dex-net-python/dex-net/data/test/models/bar_clamp.obj
output mesh  /home/evan/dex-net-python/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/evan/dex-net-python/dex-net/data/test/models/bar_clamp.obj saved as /home/evan/dex-net-python/dex-net/.dexnet/bar_clamp_proc.obj (1428 vn 476 fn)
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.
ERROR

======================================================================
ERROR: test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/home/evan/dex-net-python/dex-net/test/database_test.py", line 168, in test_new_database_and_graspable
    stable_pose)
  File "/home/evan/dex-net-python/dex-net/deps/meshpy/meshpy/mesh_renderer.py", line 716, in wrapped_images_viewsphere
    return self.wrapped_images(mesh, vs_disc.object_to_camera_poses(), render_mode, stable_pose=stable_pose, mat_props=mat_props, light_props=light_props)
  File "/home/evan/dex-net-python/dex-net/deps/meshpy/meshpy/mesh_renderer.py", line 587, in wrapped_images
    debug=debug)
  File "/home/evan/dex-net-python/dex-net/deps/meshpy/meshpy/mesh_renderer.py", line 489, in images
    c, d = meshrender.render_mesh([P],
NameError: global name 'meshrender' is not defined

----------------------------------------------------------------------
Ran 15 tests in 96.862s

FAILED (errors=1)
Floating point exception (core dumped)

Thanks for your sharing!
The higher boost version has no boost/python/numeric.hpp!

Hello.
After I install the dex-net.
I try the test as follow:

python2 setup.py test

But I got an error as follow:

ERROR

======================================================================
ERROR: test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest)

Traceback (most recent call last):
File "/home/bjh/catkin_ws/src/dex-net-master/test/database_test.py", line 168, in test_new_database_and_graspable
stable_pose)
File "/usr/local/lib/python2.7/dist-packages/meshpy/mesh_renderer.py", line 716, in wrapped_images_viewsphere
return self.wrapped_images(mesh, vs_disc.object_to_camera_poses(), render_mode, stable_pose=stable_pose, mat_props=mat_props, light_props=light_props)
File "/usr/local/lib/python2.7/dist-packages/meshpy/mesh_renderer.py", line 587, in wrapped_images
debug=debug)
File "/usr/local/lib/python2.7/dist-packages/meshpy/mesh_renderer.py", line 489, in images
c, d = meshrender.render_mesh([P],
AttributeError: 'module' object has no attribute 'render_mesh'

Ran 15 tests in 100.610s

FAILED (errors=1)
Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
error: Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>

I tried to solve the problem but nothing I can do.
Please help me.
Thank you

I would be interested in adding the Fetch gripper to Dex-Net

I added 3 new objects using the CLI to the existing example.hdf5 database and it was smooth. But when I executed generate_gqcnn_dataset.py I found out that 0 stable poses were generated for these 3 objects. I cannot understand the reason for the same.

Please help me out with this, thank you!

Here is the entire error message from the terminal.

Traceback (most recent call last):
File "tools/generate_gqcnn_dataset.py", line 579, in
config)
File "tools/generate_gqcnn_dataset.py", line 343, in generate_gqcnn_dataset
stable_poses = dataset.stable_poses(obj.key)
File "/home/loccioni/DexNet/src/dexnet/database/database.py", line 1072, in stable_poses
stps = Hdf5ObjectFactory.stable_poses(self.stable_pose_data(key))
File "/home/loccioni/DexNet/src/dexnet/database/hdf5_factory.py", line 66, in stable_poses
num_stable_poses = data.attrs[NUM_STP_KEY]
File "h5py/_objects.pyx", line 54, in h5py._objects.with_phil.wrapper (/tmp/pip-4rPeHA-build/h5py/_objects.c:2684)
File "h5py/_objects.pyx", line 55, in h5py._objects.with_phil.wrapper (/tmp/pip-4rPeHA-build/h5py/_objects.c:2642)
File "/usr/local/lib/python2.7/dist-packages/h5py/_hl/attrs.py", line 58, in getitem
attr = h5a.open(self._id, self._e(name))
File "h5py/_objects.pyx", line 54, in h5py._objects.with_phil.wrapper (/tmp/pip-4rPeHA-build/h5py/_objects.c:2684)
File "h5py/_objects.pyx", line 55, in h5py._objects.with_phil.wrapper (/tmp/pip-4rPeHA-build/h5py/_objects.c:2642)
File "h5py/h5a.pyx", line 77, in h5py.h5a.open (/tmp/pip-4rPeHA-build/h5py/h5a.c:2172)

Thank you.

In order to visualize stable poses for object in CLI, I have got a "No module named triangle" error.

The meshpy is cloned from https://github.com/BerkeleyAutomation/meshpy.git and it dose not contain triangle.py in meshpy folder. How do I fix this error ? Thank you !

snehal@snehal-G5-5587:~/catkin_erdal/src/dex-net$ python test/database_test.py
WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
WARNING:root:Unable to import CNN modules! Likely due to missing tensorflow.
WARNING:root:TensorFlow can be installed following the instructions in https://www.tensorflow.org/get_started/os_setup
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
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 phoxi_sensor.py. PhoXiSensor functionality 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
WARNING:root:Failed to import gqcnn! Grasp2D functions will not be available.
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import pyhull
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:dexnet.api:Failed to import DexNetVisualizer3D, visualization methods will be unavailable
test_illegal_create (main.Hdf5DatabaseTest) ... ok
test_new_database_and_graspable (main.Hdf5DatabaseTest) ... sh: 1: meshlabserver: not found
INFO:root:MeshlabServer Command: meshlabserver -i "data/test/models/bar_clamp.obj" -o ".dexnet/bar_clamp_proc.obj"
ERROR

======================================================================
ERROR: test_new_database_and_graspable (main.Hdf5DatabaseTest)

Traceback (most recent call last):
File "test/database_test.py", line 91, in test_new_database_and_graspable
mesh_processor.generate_graspable(CONFIG)
File "/home/snehal/catkin_erdal/src/dex-net/test/dexnet/database/mesh_processor.py", line 157, in generate_graspable
self._load_mesh(preproc_script)
File "/home/snehal/catkin_erdal/src/dex-net/test/dexnet/database/mesh_processor.py", line 175, in _load_mesh
raise ValueError('Meshlab conversion failed for %s' %(self.obj_filename))
ValueError: Meshlab conversion failed for .dexnet/bar_clamp_proc.obj

Ran 2 tests in 0.028s

FAILED (errors=1)
INFO:rospy.core:signal_shutdown [atexit]
Floating point exception (core dumped)

Hi,
We've been trying to install Dex-net 2.0 but can't get it to work. Here's a walkthrough of my problems:
Running it with: Ubuntu 16.04, ROS kinetic installed, pip installed

1. Cloning dex-net into my_workspace/src
2. Installing it with version: cpu and argument: ros
   The installation goes through but the following lines show up somewhere in the middle
   • Finished processing dependencies for meshpy==0.1.0
   • install.sh: 103: install.sh: catkin_make: not found
   • install.sh: 104: install.sh: source: not found

The result is that all the modules such as autolab_core, meshpy, visualization, gqcnn and perception are not installed. They are cloned as they should be through the installation file but I have to go into each separate one and install them. Further on I keep getting errors with mayavi, traitlets and lots of modules not being imported properly. I then went and installed each module separately when Dex-net complained on not having them. However in the end I can't get around that mayavi is not properly imported even though it's installed.

Running sudo python setup.py test gives me the following error after run 15:
Ran 15 tests in 346.004s

FAILED (errors=1)
Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
error: Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>

Anyone that know what the problem could be or can help me to troubleshoot this?

Thanks

Hello!
When testing the (successful) installation I run into this issue with protobuf:

~/catkin_ws/src/dex-net$ sudo python setup.py test
running test
running egg_info
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
writing requirements to src/dex_net.egg-info/requires.txt
reading manifest file 'src/dex_net.egg-info/SOURCES.txt'
writing manifest file 'src/dex_net.egg-info/SOURCES.txt'
running build_ext
WARNING:root:Failed to import geometry msgs in rigid_transformations.py.
WARNING:root:Failed to import ros dependencies in rigid_transforms.py
WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
[libprotobuf FATAL google/protobuf/stubs/common.cc:61] This program requires version 3.7.0 of the Protocol Buffer runtime library, but the installed version is 2.6.1.  Please update your library.  If you compiled the program yourself, make sure that your headers are from the same version of Protocol Buffers as your link-time library.  (Version verification failed in "bazel-out/k8-opt/genfiles/tensorflow/core/framework/tensor_shape.pb.cc".)
terminate called after throwing an instance of 'google::protobuf::FatalException'
  what():  This program requires version 3.7.0 of the Protocol Buffer runtime library, but the installed version is 2.6.1.  Please update your library.  If you compiled the program yourself, make sure that your headers are from the same version of Protocol Buffers as your link-time library.  (Version verification failed in "bazel-out/k8-opt/genfiles/tensorflow/core/framework/tensor_shape.pb.cc".)
Aborted (core dumped)

System: Ubuntu 16.04

Checking for protobuf version:

~/catkin_ws/src/dex-net$ pip show protobuf
Name: protobuf
Version: 3.9.1
Summary: Protocol Buffers
Home-page: https://developers.google.com/protocol-buffers/
Author: None
Author-email: None
License: 3-Clause BSD License
Location: /usr/local/lib/python3.5/dist-packages
Requires: setuptools, six
Required-by: tensorflow, tensorflow-gpu, tensorboard

~/catkin_ws/src/dex-net$ sudo pip show protobuf
Name: protobuf
Version: 3.9.1
Summary: Protocol Buffers
Home-page: https://developers.google.com/protocol-buffers/
Author: None
Author-email: None
License: 3-Clause BSD License
Location: /usr/local/lib/python3.7/site-packages
Requires: setuptools, six
Required-by: tensorflow, tensorflow-gpu, tensorboard

Could anyone kindly suggest a solution?
Thank you.

The setup.py has version 0.1.dev0 see here while the package.xml has version 0.2.0, see here. This is easily fixed by setting the version in the setup.py to be 0.2.0. PR to follow

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.

Hello,

I think I have found a problem in the code and just wanted to point it out and check my understanding.

So lets say I use the default config file supplied (api_defaults.yaml), but I set check_approach = True because I want a set of grasps that are perpendicular to the table and collision-free (like the GQ-CNN dataset).
So I import a model using add_objects(), I then sample some grasps using one of the grippers with sample_grasps(), and then finally compute some metrics using compute_metrics().

The problem comes when I try to view these grasps.

In _compute_metrics(), If check_approach = False then we use the metric name to index the quality score:

grasp_metrics[grasp.id][metric_name] = q.quality

and everything works fine later when I try and view the grasps.
But if check_approach = True, then we index by a created 'metric_tag':

metric_tag = '%s_%s' %(metric_name, stable_pose.id)
#Other stuff
grasp_metrics[grasp.id][metric_tag] = q.quality

This becomes a problem when you then try and view the grasps (in display_grasps()), here is the first problem in this function, but there are similar instances after it when we try and get the metric information:

metrics = self.dataset.available_metrics(object_name, gripper=gripper.name)
if metric_name not in metrics:
    raise ValueError("{} is not computed for gripper {}, object {}".format(metric_name, gripper.name, object_name))

It seems to assume that we had check_approach = False and that we access the quality via the metric name, and not the 'metric_tag'. I apologize if I have misunderstood something and this is not an error in the code.

I have one extra query:
I have assume that check_approach = True for when you generated the GQ-CNN dataset (as you were picking up from a table), so my question is what would check_approach = False be useful for? Picking from the side perhaps?

Hopefully I have made somewhat sense. Thank you for your time!

@jeffmahler

I executed code to test dexnet installtion on ubuntu 14 and 16 both in CPU machine.

user/catkin_ws/src/dexnet python setup.py test .

floating point exception core dumped. error i got .
robo@dex:~/catkin_ws/src/dex-net$ python setup.py test
running test
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
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
/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: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:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
test_antipodal_grasp_sampler (test.grasping_test.GraspTest) ... ERROR:root:Singular matrix. Probably a bug
ERROR:root:Singular matrix. Probably a bug
ERROR:root:Singular matrix. Probably a bug
ok
test_contacts (test.grasping_test.GraspTest) ... 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) ... /home/robo/catkin_ws/src/dex-net/src/dexnet/grasping/grasp.py:222: RuntimeWarning: invalid value encountered in arccos
axis_dist = (2.0 / np.pi) * np.arccos(np.abs(g1.axis.dot(g2.axis)))
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
test_illegal_create (test.database_test.Hdf5DatabaseTest) ... ok
test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest) ... Input mesh /home/robo/catkin_ws/src/dex-net/data/test/models/bar_clamp.obj
output mesh /home/robo/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/robo/catkin_ws/src/dex-net/data/test/models/bar_clamp.obj saved as /home/robo/catkin_ws/src/dex-net/.dexnet/bar_clamp_proc.obj (1428 vn 476 fn)
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.
chmod: changing permissions of '.dexnet/bar_clamp_proc.sdf': Operation not permitted
ERROR

======================================================================
ERROR: test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest)

Traceback (most recent call last):
File "/home/robo/catkin_ws/src/dex-net/test/database_test.py", line 168, in test_new_database_and_graspable
stable_pose)
File "/usr/local/lib/python2.7/dist-packages/meshpy/mesh_renderer.py", line 716, in wrapped_images_viewsphere
return self.wrapped_images(mesh, vs_disc.object_to_camera_poses(), render_mode, stable_pose=stable_pose, mat_props=mat_props, light_props=light_props)
File "/usr/local/lib/python2.7/dist-packages/meshpy/mesh_renderer.py", line 587, in wrapped_images
debug=debug)
File "/usr/local/lib/python2.7/dist-packages/meshpy/mesh_renderer.py", line 489, in images
c, d = meshrender.render_mesh([P],
AttributeError: 'module' object has no attribute 'render_mesh'

Ran 15 tests in 146.936s

FAILED (errors=1)
Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
error: Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
Floating point exception (core dumped)

Hi，I'm sorry to disturb you again.
in the function wrench_resistance(), i find the quality is defined as:
Q = 1.0 / (finger_force_norm + finger_force_eps) - 1.0 / (2 * force_limit)

I understand what this means, but is there any reference about this definition?
Why not 1.0 / (finger_force_norm + finger_force_eps) - 10.0 / (2 * force_limit) ?

Thanks.

I am trying to reproduce the dexnet result for learning. I came up with a problem with dex-net/tools/generate_gqcnn_dataset.py and it does not quite work. Can you perhaps help me with that, or point me to someone who knows this subject matter or has encountered this error before?

Details are as follows

From the left is the depth_ims_tf from generate script, from the right is the reference from the pre-generated set, the left ones feels like just random noise without depth correctly rendered.

I turned on the vis debugging portion of the yaml config file, in which candidate grasp was displayed correctly, rendered_images are similar to the ones on the left, it does have something but nothing like an object. the grasps images seems to not be on any target objects. There is also some problem with vis3d as it needs a trimesh object. Here are the images below, success messages and fail messages.

If i turned off the debug vis in yaml, the script will run to completion, but the generated data is unusable like the ones shown above. Also the code does not have any missing and unable to find packages in the output window.

Can you give some help on that, you insights will be a great help to me.

Hello Community,

I have followed the instruction and installed the dex-net. However when I tried to run "python setup.py test" I encountered this error:

ERROR: test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest)

Traceback (most recent call last):
File "/home/yeting/ros_ws/src/dex-net/test/database_test.py", line 91, in test_new_database_and_graspable
mesh_processor.generate_graspable(CONFIG)
File "/home/yeting/ros_ws/src/dex-net/src/dexnet/database/mesh_processor.py", line 157, in generate_graspable
self._load_mesh(preproc_script)
File "/home/yeting/ros_ws/src/dex-net/src/dexnet/database/mesh_processor.py", line 179, in load_mesh
self.mesh = of.read()
File "/home/yeting/ros_ws/src/meshpy/meshpy/obj_file.py", line 70, in read
v = map(float, vals[1:4])
ValueError: invalid literal for float(): 0,000000

And following is the whole result of the test:
running test
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
WARNING:root:Failed to import geometry msgs in rigid_transformations.py.
WARNING:root:Failed to import ros dependencies in rigid_transforms.py
WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
WARNING:trimesh:No FCL -- collision checking will not work
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly
WARNING:root:Failed to import ROS in primesense_sensor.py. ROS functionality not available
WARNING:root:primesense_sensor.py not installed as catkin package. ROS functionality not available.
WARNING:root:Failed to import ROS in ensenso_sensor.py. ROS functionality not available
WARNING:root:Failed to import gqcnn! Grasp2D functions will not be available.

WARNING: Imported VTK version (6.2) does not match the one used
to build the TVTK classes (5.1). This may cause problems.
Please rebuild TVTK.

WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:dexnet.api:Failed to import DexNetVisualizer3D, visualization methods will be unavailable
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
test_antipodal_grasp_sampler (test.grasping_test.GraspTest) ... ok
test_contacts (test.grasping_test.GraspTest) ... 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) ... 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_illegal_create (test.database_test.Hdf5DatabaseTest) ... ok
test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest) ... Input mesh /home/yeting/ros_ws/src/dex-net/data/test/models/bar_clamp.obj
output mesh /home/yeting/ros_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/yeting/ros_ws/src/dex-net/data/test/models/bar_clamp.obj saved as /home/yeting/ros_ws/src/dex-net/.dexnet/bar_clamp_proc.obj (1428 vn 476 fn)
ERROR

======================================================================
ERROR: test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest)

Traceback (most recent call last):
File "/home/yeting/ros_ws/src/dex-net/test/database_test.py", line 91, in test_new_database_and_graspable
mesh_processor.generate_graspable(CONFIG)
File "/home/yeting/ros_ws/src/dex-net/src/dexnet/database/mesh_processor.py", line 157, in generate_graspable
self._load_mesh(preproc_script)
File "/home/yeting/ros_ws/src/dex-net/src/dexnet/database/mesh_processor.py", line 179, in load_mesh
self.mesh = of.read()
File "/home/yeting/ros_ws/src/meshpy/meshpy/obj_file.py", line 70, in read
v = map(float, vals[1:4])
ValueError: invalid literal for float(): 0,000000

Ran 15 tests in 392.800s

FAILED (errors=1)
Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
error: Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
Floating point exception. (Core Dumped)

Could any one help? Thank you very much！

After hours of installing dependencies so that the install.sh will finish without errors, the setup.py test returns the error "AttributeError: 'module' object has no attribute 'database_test'".
Testing for the database by using

python
|>>> import test.database_test

Returns:
Traceback (most recent call last):
File "", line 1, in
File "test/database_test.py", line 27, in
import IPython
ImportError: No module named IPython

But I installed iPython, 5.1.0.

What's wrong with my installation? I would be glad for some help :-)

after running database_test.py, i got this error. Does anyone knows how to solve it? Thanks a lot!

/usr/bin/python2.7 /home/kx/pycharm-community-2018.1.3/helpers/pycharm/_jb_nosetest_runner.py --path /home/kx/dex-net2.0-custom/src/dex-net/test/database_test.py
Launching Nosetest with arguments /home/kx/pycharm-community-2018.1.3/helpers/pycharm/_jb_nosetest_runner.py /home/kx/dex-net2.0-custom/src/dex-net/test/database_test.py in /home/kx/dex-net2.0-custom/src/dex-net/test

/home/kx/.local/lib/python2.7/site-packages/h5py/__init__.py:36: FutureWarning: Conversion of the second argument of issubdtype from `float` to `np.floating` is deprecated. In future, it will be treated as `np.float64 == np.dtype(float).type`.
  from ._conv import register_converters as _register_converters
.Current Plugins Dir is: /usr/lib/meshlab/plugins 
Error While parsing the XML filter plugin descriptors: We are trying to load a xml file that does not correspond to any dll or javascript code; please delete all the spurious xml files
Opening a file with extention obj
Loading Plugins:
Total 238 filtering actions
Total 12 io plugins
Mesh /home/kx/dex-net2.0-custom/src/dex-net/data/test/models/bar_clamp.obj loaded has 1428 vn 476 fn
output mesh  /home/kx/dex-net2.0-custom/src/dex-net/test/.dexnet/bar_clamp_proc.obj
Mesh /home/kx/dex-net2.0-custom/src/dex-net/data/test/models/bar_clamp.obj saved as /home/kx/dex-net2.0-custom/src/dex-net/test/.dexnet/bar_clamp_proc.obj (1428 vn 476 fn)
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.
OSMesaMakeCurrent failed!

hello,
I try to install Boost.Numpy:

git clone https://github.com/jeffmahler/Boost.NumPy.git
cd Boost.NumPy
sudo sh install.sh

but come across some problems

Linking CXX shared library ../../../lib/libboost_numpy.so
[ 31%] Built target boost_numpy
Scanning dependencies of target dtype
[ 36%] Building CXX object libs/numpy/example/CMakeFiles/dtype.dir/dtype.cpp.o
Linking CXX executable ../../../bin/dtype
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_InternFromString'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_AsString'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyUnicodeUCS4_FromEncodedObject'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyClass_Type'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `Py_InitModule4_64'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyFile_AsFile'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyInt_Type'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_FromStringAndSize'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_Size'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyUnicodeUCS4_AsWideChar'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyNumber_Divide'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_FromString'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_FromFormat'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyInt_FromLong'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyInt_AsLong'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyNumber_InPlaceDivide'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_Type'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyFile_FromString'
collect2: error: ld returned 1 exit status
make[2]: *** [bin/dtype] Error 1
make[1]: *** [libs/numpy/example/CMakeFiles/dtype.dir/all] Error 2
make: *** [all] Error 2
[ 31%] Built target boost_numpy
Linking CXX executable ../../../bin/dtype
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_InternFromString'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_AsString'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyUnicodeUCS4_FromEncodedObject'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyClass_Type'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `Py_InitModule4_64'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyFile_AsFile'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyInt_Type'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_FromStringAndSize'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_Size'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyUnicodeUCS4_AsWideChar'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyNumber_Divide'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_FromString'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_FromFormat'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyInt_FromLong'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyInt_AsLong'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyNumber_InPlaceDivide'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyString_Type'
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libboost_python.so: undefined reference to `PyFile_FromString'
collect2: error: ld returned 1 exit status
make[2]: *** [bin/dtype] Error 1
make[1]: *** [libs/numpy/example/CMakeFiles/dtype.dir/all] Error 2
make: *** [all] Error 2

hope for any suggestions, thanks

Fail to run generate_gqcnn_dataset after adding new obj. The problem is that the stable poses for the new object have not been generated yet. Is there any function in the code deals wth this？ Thanks

I managed to install dexnet and all dependencies successfully. However when running python setup.py test the test_antipodal_grasp_sampler test is failing (along with several others). They are all failing for the same reason, a rotation matrix not having determinant 1. The error is

======================================================================
ERROR: test_antipodal_grasp_sampler (test.grasping_test.GraspTest)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/home/manuelli/spartan_grasp/catkin_ws/src/dex-net/test/grasping_test.py", line 215, in test_antipodal_grasp_sampler
    sdf = sf.read()
  File "/home/manuelli/meshpy/meshpy/sdf_file.py", line 62, in read
    return self._read_3d()
  File "/home/manuelli/meshpy/meshpy/sdf_file.py", line 95, in _read_3d
    return sdf.Sdf3D(sdf_data, origin, resolution)
  File "/home/manuelli/meshpy/meshpy/sdf.py", line 245, in __init__
    self.T_sdf_grid_ = self.T_grid_sdf_.inverse()
  File "/home/manuelli/spartan_grasp/catkin_ws/src/autolab_core/autolab_core/rigid_transformations.py", line 1100, in inverse
    to_frame=self._from_frame)
  File "/home/manuelli/spartan_grasp/catkin_ws/src/autolab_core/autolab_core/rigid_transformations.py", line 980, in __init__
    RigidTransform.__init__(self, rotation, translation, from_frame, to_frame)
  File "/home/manuelli/spartan_grasp/catkin_ws/src/autolab_core/autolab_core/rigid_transformations.py", line 75, in __init__
    self.rotation = rotation
  File "/home/manuelli/spartan_grasp/catkin_ws/src/autolab_core/autolab_core/rigid_transformations.py", line 131, in rotation
    self._check_valid_rotation(rotation)
  File "/home/manuelli/spartan_grasp/catkin_ws/src/autolab_core/autolab_core/rigid_transformations.py", line 100, in _check_valid_rotation
    raise ValueError('Illegal rotation. Must have determinant == 1.0')
ValueError: Illegal rotation. Must have determinant == 1.0

======================================================================

I traced the code path and it seems like the error is arising from here. I'm not sure how this can be happening since the default argument for the rotation matrix is rotation=np.eye(3), and since the arg isn't being passed that's what should be happening here, and the identity definitely has a determinant of 1.

Hello!

When running the test after installation, I get this error:

mihai@oozzoo:~/catkin_ws/src/dex-net$ python2 setup.py test
running test
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
WARNING:root:Failed to import geometry msgs in rigid_transformations.py.
WARNING:root:Failed to import ros dependencies in rigid_transforms.py
WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
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:root:Unable to import weight sensor modules!
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.
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
root       INFO     Failed to import mayavi
test_antipodal_grasp_sampler (test.grasping_test.GraspTest) ... root       INFO     Num surface: 30160
root       INFO     19/100 grasps found after iteration 1.
root       INFO     Num surface: 30160
root       ERROR    Singular matrix. Probably a bug
root       INFO     43/100 grasps found after iteration 2.
root       INFO     Num surface: 30160
root       ERROR    Singular matrix. Probably a bug
root       INFO     67/100 grasps found after iteration 3.
root       INFO     Found 67 grasps.
ok
test_contacts (test.grasping_test.GraspTest) ... root       INFO     33/100 grasps found after iteration 1.
root       INFO     77/100 grasps found after iteration 2.
root       INFO     111/100 grasps found after iteration 3.
root       INFO     Truncating 111 grasps to 100.
root       INFO     Found 100 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     40/100 grasps found after iteration 1.
root       INFO     83/100 grasps found after iteration 2.
root       INFO     114/100 grasps found after iteration 3.
root       INFO     Truncating 114 grasps to 100.
root       INFO     Found 100 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
test_illegal_create (test.database_test.Hdf5DatabaseTest) ... ok
test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest) ... Input mesh  /home/mihai/catkin_ws/src/dex-net/data/test/models/bar_clamp.obj
output mesh  /home/mihai/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/mihai/catkin_ws/src/dex-net/data/test/models/bar_clamp.obj saved as /home/mihai/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"
ERROR

======================================================================
ERROR: test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/home/mihai/catkin_ws/src/dex-net/test/database_test.py", line 91, in test_new_database_and_graspable
    mesh_processor.generate_graspable(CONFIG)
  File "/home/mihai/catkin_ws/src/dex-net/src/dexnet/database/mesh_processor.py", line 157, in generate_graspable
    self._load_mesh(preproc_script)
  File "/home/mihai/catkin_ws/src/dex-net/src/dexnet/database/mesh_processor.py", line 179, in _load_mesh
    self.mesh_ = of.read()
  File "/home/mihai/catkin_ws/src/meshpy/meshpy/obj_file.py", line 70, in read
    v = map(float, vals[1:4])
ValueError: invalid literal for float(): 0,000000

----------------------------------------------------------------------
Ran 15 tests in 109.932s

FAILED (errors=1)
Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
error: Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>

Upon further inspection, it seems that the database is to blame:

mihai@oozzoo:~/catkin_ws/src/dex-net$ python2 test/database_test.py
WARNING:root:Failed to import geometry msgs in rigid_transformations.py.
WARNING:root:Failed to import ros dependencies in rigid_transforms.py
WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
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:root:Unable to import weight sensor modules!
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.
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
root       INFO     Failed to import mayavi
test_illegal_create (__main__.Hdf5DatabaseTest) ... ok
test_new_database_and_graspable (__main__.Hdf5DatabaseTest) ... Input mesh  /home/mihai/catkin_ws/src/dex-net/data/test/models/bar_clamp.obj
output mesh  /home/mihai/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/mihai/catkin_ws/src/dex-net/data/test/models/bar_clamp.obj saved as /home/mihai/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"
ERROR

======================================================================
ERROR: test_new_database_and_graspable (__main__.Hdf5DatabaseTest)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "test/database_test.py", line 91, in test_new_database_and_graspable
    mesh_processor.generate_graspable(CONFIG)
  File "/home/mihai/catkin_ws/src/dex-net/src/dexnet/database/mesh_processor.py", line 157, in generate_graspable
    self._load_mesh(preproc_script)
  File "/home/mihai/catkin_ws/src/dex-net/src/dexnet/database/mesh_processor.py", line 179, in _load_mesh
    self.mesh_ = of.read()
  File "/home/mihai/catkin_ws/src/meshpy/meshpy/obj_file.py", line 70, in read
    v = map(float, vals[1:4])
ValueError: invalid literal for float(): 0,000000

----------------------------------------------------------------------
Ran 2 tests in 0.133s

FAILED (errors=1)

Could anyone kindly suggest a fix?

I tried to use the CLI to visualize the example.hdf5 database, but the rendering does not work

All 15 tests are OK when running sudo python setup.py test.

Log from dexnet_cli.py:

WARNING:root:Failed to import geometry msgs in rigid_transformations.py.
WARNING:root:Failed to import ros dependencies in rigid_transforms.py
WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
WARNING:trimesh:graph-tool unavailable, some operations will be much slower
/usr/local/lib/python2.7/dist-packages/h5py-2.7.1-py2.7-linux-x86_64.egg/h5py/__init__.py:36: FutureWarning: Conversion of the second argument of issubdtype from `float` to `np.floating` is deprecated. In future, it will be treated as `np.float64 == np.dtype(float).type`.
  from ._conv import register_converters as _register_converters
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly
WARNING:root:Failed to import ROS in primesense_sensor.py. ROS functionality not available
WARNING:root:primesense_sensor.py not installed as catkin package. ROS functionality not available.
WARNING:root:Failed to import ROS in ensenso_sensor.py. ROS functionality not available
WARNING:root:Failed to import ROS in phoxi_sensory.py. PhoXiSensor functionality unavailable.
WARNING:root:Unable to import weight sensor modules!
WARNING:root:Failed to import OpenRAVE
WARNING:root:Failed to import OpenRAVE
####################################################
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.hdf5
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: mount1
INFO:dexnet.api:Displaying mount1
Display object failed: 'SceneViewer' object has no attribute 'save_directory'

@jeffmahler
After installation, I executed the "python setup.py test",

running test
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
WARNING:root:Failed to import geometry msgs in rigid_transformations.py.
WARNING:root:Failed to import ros dependencies in rigid_transforms.py
WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
WARNING:root:autolab_perception is not installed as a catkin package - ROS msg conversions will not be available for image wrappers
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:Failed to import ROS in primesense_sensor.py. ROS functionality not available
WARNING:root:primesense_sensor.py not installed as catkin package. ROS functionality not available.
WARNING:root:Unable to import pyrealsense2.
WARNING:root:Failed to import ROS in realsense_sensor.py. ROS functionality not available
WARNING:root:realsense_sensor.py not installed as catkin package. ROS functionality not available.
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:root:Unable to import weight sensor modules!
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
WARNING:trimesh:No FCL -- collision checking will not work
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import pyhull
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:root:Failed to import mayavi
WARNING:dexnet.api: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/ncut1011/wjy_dex-net/catkin_ws_test/src/dex-net/data/test/models/bar_clamp.obj
output mesh /home/ncut1011/wjy_dex-net/catkin_ws_test/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/ncut1011/wjy_dex-net/catkin_ws_test/src/dex-net/data/test/models/bar_clamp.obj saved as /home/ncut1011/wjy_dex-net/catkin_ws_test/src/dex-net/.dexnet/bar_clamp_proc.obj (1428 vn 476 fn)
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.
ERROR
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
test_antipodal_grasp_sampler (test.grasping_test.GraspTest) ... ERROR:root:Singular matrix. Probably a bug
ok
test_contacts (test.grasping_test.GraspTest) ... 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) ... 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

======================================================================
ERROR: test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest)

Traceback (most recent call last):
File "/home/ncut1011/wjy_dex-net/catkin_ws_test/src/dex-net/test/database_test.py", line 168, in test_new_database_and_graspable
stable_pose)
File "/home/ncut1011/wjy_dex-net/catkin_ws_test/src/meshpy/meshpy/mesh_renderer.py", line 716, in wrapped_images_viewsphere
return self.wrapped_images(mesh, vs_disc.object_to_camera_poses(), render_mode, stable_pose=stable_pose, mat_props=mat_props, light_props=light_props)
File "/home/ncut1011/wjy_dex-net/catkin_ws_test/src/meshpy/meshpy/mesh_renderer.py", line 587, in wrapped_images
debug=debug)
File "/home/ncut1011/wjy_dex-net/catkin_ws_test/src/meshpy/meshpy/mesh_renderer.py", line 489, in images
c, d = meshrender.render_mesh([P],
NameError: global name 'meshrender' is not defined

Ran 15 tests in 110.712s

FAILED (errors=1)
Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
error: Test failed: <unittest.runner.TextTestResult run=15 errors=1 failures=0>
Floating point exception

I use the costum-dataset branch to generate the grasp.
However, after sampling grasps and calculating the metrics, the center of the grasps is very large (almost nearly [50,50,50]). While the center of the object is amostly [0,0,0].
Later, i find out that it is the sampling method that samples from a strange SDF.
I use the following code:
vasedata=self.dexnet_api.database.dataset('mini_dexnet')['vase']
vasedata.sdf.surface_points(grid_basis=False)

And it shows:

This is strange. I can hardly understand why SDF is so large, and how can my problem be solved.

This error is produced every time the cli is launched.

WARNING:dexnet.api:Failed to import DexNetVisualizer3D, visualization methods will be unavailable

After numerous installs and investigations there do not appear to be any dependency issues. The kinect/libfreenect packages are not yet installed but I do not think that would be causing this.

Could there be some bad file-paths in the source code? Has this issue been encountered before?

I use the costum-dataset branch to generate the grasp.And I just follow the normal process:Open a database;Open a dataset;Add object(s) to the datase;Sample grasps;Compute metrics;Display grasps for object.
When I choose the number 3 that Sample grasps,and has the result
Enter object key [ENTER for entire dataset]: bar_clamp
INFO:dexnet.api:Sampling grasps for object bar_clamp
INFO:dexnet.api:Sampling grasps
Sampling grasps failed: 'grasp_sampler'

I downloaded the hdf5 databases and used the command

cat hdf5.dexnet_2_database_parta* > dexnet_2_database.hdf5

But I get the error while running the Dex-Net CLI

Opening database failed: Can't determine (bad symbol table node signature) 

It was the same case even with example.hdf5. The only db I was able to open was test.hdf5 available in the github repo, which was empty. How can I get it to work?

Hello team,

When I use the GQ-Image-Wise model, for each grasp the q value is generated very well and according to the grasp quality. But, if I retrain or fine-tune a new model with some modifications, the q value for any grasp is always zero.

Why? Please, help me in solving this.

After running install.sh in dex-net project, I tried

$sudo python setup.py test

But it gave the error

Module has no attribute "learning_test"

I added Boost_numpy install path to LD_LIBRARY_PATH according to another issue. It didn't make sense.

Trying the dex-net ROS installation. Coming across an error in mismatch version number upon catkin_make, just after git clone.

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_python_setup.cmake:79 (message):
  catkin_python_setup() version in setup.py (0.0.6) differs from version in
  package.xml (0.0.5)
Call Stack (most recent call first):
  visualization/CMakeLists.txt:16 (catkin_python_setup)


-- Configuring incomplete, errors occurred!
See also "/home/qiuyilin/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/qiuyilin/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:5276: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

I saw a similar problem in BerkeleyAutomation/gqcnn#37 but I still can not solve it.

After successfully installing dexnet, running the command python setup.py test gave the following output:

running test
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
WARNING:root:Failed to import geometry msgs in rigid_transformations.py.
WARNING:root:Failed to import ros dependencies in rigid_transforms.py
WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
WARNING: AUTOLab Perception Module not installed as Catkin Package. ROS msg conversions will not be available for Perception wrappers
WARNING: AUTOLab Perception module not installed as Catkin Package. ROS msg conversions will not be available for Perception wrappers.
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly
WARNING:root:Failed to import ROS in primesense_sensor.py. ROS functionality not available
WARNING:root:primesense_sensor.py not installed as catkin package. ROS functionality not available.
WARNING:trimesh:graph-tool unavailable, some operations will be much slower
WARNING:trimesh:shapely.geometry.Polygon not available!
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
Traceback (most recent call last):
  File "setup.py", line 21, in <module>
    test_suite='test'
  File "/usr/lib/python2.7/distutils/core.py", line 151, in setup
    dist.run_commands()
  File "/usr/lib/python2.7/distutils/dist.py", line 953, in run_commands
    self.run_command(cmd)
  File "/usr/lib/python2.7/distutils/dist.py", line 972, in run_command
    cmd_obj.run()
  File "/usr/local/lib/python2.7/dist-packages/setuptools/command/test.py", line 215, in run
    self.run_tests()
  File "/usr/local/lib/python2.7/dist-packages/setuptools/command/test.py", line 238, in run_tests
    **exit_kwarg
  File "/usr/lib/python2.7/unittest/main.py", line 94, in __init__
    self.parseArgs(argv)
  File "/usr/lib/python2.7/unittest/main.py", line 149, in parseArgs
    self.createTests()
  File "/usr/lib/python2.7/unittest/main.py", line 158, in createTests
    self.module)
  File "/usr/lib/python2.7/unittest/loader.py", line 130, in loadTestsFromNames
    suites = [self.loadTestsFromName(name, module) for name in names]
  File "/usr/lib/python2.7/unittest/loader.py", line 103, in loadTestsFromName
    return self.loadTestsFromModule(obj)
  File "/usr/local/lib/python2.7/dist-packages/setuptools/command/test.py", line 43, in loadTestsFromModule
    tests.append(self.loadTestsFromName(submodule))
  File "/usr/lib/python2.7/unittest/loader.py", line 100, in loadTestsFromName
    parent, obj = obj, getattr(obj, part)
AttributeError: 'module' object has no attribute 'grasping_test'

Eventhough Boost.NumPy was installed successfully, it says rendering won't work likely due to missing Boost.NumPy
Am I missing something?

Hi,

When I'm trying to make a custom database for a project (custom_databases branch), I noticed a potential bug in object registration code for computing stable poses. In MeshProcessor._clean_mesh(), vertices are scaled with MeshProcessor._rescale_vertices() and those vertices are used for making convex hull. However, the center of mass in Mesh3D.trimesh_, which is used to compute stable poses, seems to calculate the center of mass with the vertices before the scaling. To explaing this, here's the data processing flow:

1. When loading mesh data in MeshProcessor.generate_graspable(), Mesh3D.__init__() is called.
2. In the init method, Mesh3D.is_watertight is called, then Mesh3D.trimesh_ is set and the center of mass is computed.
3. In MeshProcessor.generate_graspable(), MeshProcessor._clean_mesh() is called.
4. In MeshProcessor._clean_mesh(), vertices are scaled with MeshProcessor._rescale_vertices().

As a workaround, I added the following code in the end of MeshProcessor._clean_mesh():

if rescale_mesh:
    self._rescale_vertices(scale, rescaling_type, use_uniform_com)
# Append following lines
self.mesh_.trimesh_ = None
self.mesh_.trimesh # initialize mesh_.trimesh_
if use_uniform_com: # adopted from somewhere in the code, I don'w know what this means
    self.mesh_.center_of_mass = self.mesh_._compute_com_uniform()

This code compute the center of mass again after the scaling.

I hope this report will help you.

At first thank you for fast reply.
You are right, the problem ist meshrender.so file, it dosn´t exist.
I tried to run the comands like you sad, but i get instant an error if i run cmake ...

Output in the command line:
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.6")
-- Found PythonLibs: /usr/lib/i386-linux-gnu/libpython2.7.so (found suitable version "2.7.6", minimum required is "2.7")
-- Looking for XOpenDisplay in /usr/lib/i386-linux-gnu/libX11.so;/usr/lib/i386-linux-gnu/libXext.so
-- Looking for XOpenDisplay in /usr/lib/i386-linux-gnu/libX11.so;/usr/lib/i386-linux-gnu/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found X11: /usr/lib/i386-linux-gnu/libX11.so
-- Found OpenGL: /usr/lib/i386-linux-gnu/libGL.so
-- Found GLUT: /usr/lib/i386-linux-gnu/libglut.so
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- python
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GLUT_Xi_LIBRARY (ADVANCED)
linked by target "meshrender" in directory /dex-net/deps/meshpy/meshpy
GLUT_Xmu_LIBRARY (ADVANCED)
linked by target "meshrender" in directory /dex-net/deps/meshpy/meshpy

-- Configuring incomplete, errors occurred!
See also "/dex-net/deps/meshpy/build/CMakeFiles/CMakeOutput.log".

Originally posted by @maxixb in #23 (comment)