grasplanning problem if visualizing with viewer

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grasplanning problem if visualizing with viewer

richard
Hi,

I'm experimenting with a modified version of the graspplanning.py
example - but my grasp planning was never successfull. I recognized,
failure happens only when I attach the qtcoin viewer (I want to see
what's happening). Not attaching a viewer, my script works fine. I tried
the same with the original graspplanning example, simply running
graspplanning.py, the output is:

-----
python graspplanning.py
[openravepy_int.cpp:2884] viewer qtcoin successfully attached
[ikfastproblem.h:206]
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
cannot open shared object file: No such file or directory
[ikfastproblem.h:131] failed to load library
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
mug1 is graspable
mug2 is graspable
mug3 is graspable
mug4 is graspable
mug5 is graspable
mug6 is graspable
searching for destinations on table...
starting to pick and place random objects
grasping object mug6
[taskmanipulation.h:260] GraspPlanning...
[taskmanipulation.h:363] failed processing command grasps
failed to grasp object mug6
openrave planning_error: ''
grasping object mug6
[taskmanipulation.h:142] using BiRRT planner
[taskmanipulation.h:260] GraspPlanning...
[taskmanipulation.h:363] failed processing command grasps
failed to grasp object mug6
openrave planning_error: ''
grasping object mug2
[taskmanipulation.h:142] using BiRRT planner
[taskmanipulation.h:260] GraspPlanning...
[taskmanipulation.h:363] failed processing command grasps
failed to grasp object mug2
openrave planning_error: ''
grasping object mug3
[taskmanipulation.h:142] using BiRRT planner
[taskmanipulation.h:260] GraspPlanning...
[taskmanipulation.h:363] failed processing command grasps
failed to grasp object mug3
openrave planning_error: ''
...
-----

and so on, never ending. If i change the line

env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
to
env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)

naturally, there's no visualization, but now it seems to work, the
output is:

-----
[ikfastproblem.h:206]
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
cannot open shared object file: No such file or directory
[ikfastproblem.h:131] failed to load library
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
mug1 is graspable
mug2 is graspable
mug3 is graspable
mug4 is graspable
mug5 is graspable
mug6 is graspable
searching for destinations on table...
starting to pick and place random objects
grasping object mug4
[taskmanipulation.h:260] GraspPlanning...
[taskmanipulation.h:524] grasper planner failed: 44
[taskmanipulation.h:524] grasper planner failed: 142
[taskmanipulation.h:524] grasper planner failed: 132
[taskmanipulation.h:524] grasper planner failed: 67
[taskmanipulation.h:524] grasper planner failed: 87
[taskmanipulation.h:524] grasper planner failed: 116
[taskmanipulation.h:524] grasper planner failed: 219
[taskmanipulation.h:524] grasper planner failed: 140
[taskmanipulation.h:524] grasper planner failed: 27
[taskmanipulation.h:524] grasper planner failed: 220
[taskmanipulation.h:524] grasper planner failed: 228
[taskmanipulation.h:524] grasper planner failed: 130
[taskmanipulation.h:524] grasper planner failed: 81
[taskmanipulation.h:617] IK found: -0.639707 1.04106 -4.15078e-09 2.4415
-3.61415 0.669327 -0.951322
[taskmanipulation.h:728] grasp 78: adding to goals
[taskmanipulation.h:617] IK found: -0.914857 1.40443 -0.05 2.20128
-4.53853 1.54908 1.95376
[taskmanipulation.h:728] grasp 110: adding to goals
[taskmanipulation.h:617] IK found: -1.05392 1.52014 -0.25 2.179 -4.54481
1.494 2.29808
[taskmanipulation.h:728] grasp 165: adding to goals
[taskmanipulation.h:1300] Starting MoveArm...
...
-----

Does anybody know the problem?


--
Richard Cubek, Dipl.-Ing.(FH)
University of Applied Sciences Ravensburg-Weingarten
Intelligent Mobile Robotics Laboratory
Phone: (0049) (0)751 501 9838
Mobile: (0049) (0)163 88 39 529


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Re: grasplanning problem if visualizing with viewer

Rosen Diankov
Administrator
hi richard,

You are forgetting to lock the Environment. Many threads access the
environment information and the only way to get exclusive access to
the environment is lock it. The simplest way to do this in python is
to use the 'with' statement.  For example:

with env: # lock env
  # do code here

with robot: # lock env and save robot state
  # do code here

You'll notice that all demo code uses these constructs. There's more
information about environment locking here:

http://openrave.programmingvision.com/ordocs/en/html/architecture_concepts.html

rosen,

2010/10/1 Richard Cubek <[hidden email]>:

> Hi,
>
> I'm experimenting with a modified version of the graspplanning.py
> example - but my grasp planning was never successfull. I recognized,
> failure happens only when I attach the qtcoin viewer (I want to see
> what's happening). Not attaching a viewer, my script works fine. I tried
> the same with the original graspplanning example, simply running
> graspplanning.py, the output is:
>
> -----
> python graspplanning.py
> [openravepy_int.cpp:2884] viewer qtcoin successfully attached
> [ikfastproblem.h:206]
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
> cannot open shared object file: No such file or directory
> [ikfastproblem.h:131] failed to load library
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
> mug1 is graspable
> mug2 is graspable
> mug3 is graspable
> mug4 is graspable
> mug5 is graspable
> mug6 is graspable
> searching for destinations on table...
> starting to pick and place random objects
> grasping object mug6
> [taskmanipulation.h:260] GraspPlanning...
> [taskmanipulation.h:363] failed processing command grasps
> failed to grasp object mug6
> openrave planning_error: ''
> grasping object mug6
> [taskmanipulation.h:142] using BiRRT planner
> [taskmanipulation.h:260] GraspPlanning...
> [taskmanipulation.h:363] failed processing command grasps
> failed to grasp object mug6
> openrave planning_error: ''
> grasping object mug2
> [taskmanipulation.h:142] using BiRRT planner
> [taskmanipulation.h:260] GraspPlanning...
> [taskmanipulation.h:363] failed processing command grasps
> failed to grasp object mug2
> openrave planning_error: ''
> grasping object mug3
> [taskmanipulation.h:142] using BiRRT planner
> [taskmanipulation.h:260] GraspPlanning...
> [taskmanipulation.h:363] failed processing command grasps
> failed to grasp object mug3
> openrave planning_error: ''
> ...
> -----
>
> and so on, never ending. If i change the line
>
> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
> to
> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>
> naturally, there's no visualization, but now it seems to work, the
> output is:
>
> -----
> [ikfastproblem.h:206]
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
> cannot open shared object file: No such file or directory
> [ikfastproblem.h:131] failed to load library
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
> mug1 is graspable
> mug2 is graspable
> mug3 is graspable
> mug4 is graspable
> mug5 is graspable
> mug6 is graspable
> searching for destinations on table...
> starting to pick and place random objects
> grasping object mug4
> [taskmanipulation.h:260] GraspPlanning...
> [taskmanipulation.h:524] grasper planner failed: 44
> [taskmanipulation.h:524] grasper planner failed: 142
> [taskmanipulation.h:524] grasper planner failed: 132
> [taskmanipulation.h:524] grasper planner failed: 67
> [taskmanipulation.h:524] grasper planner failed: 87
> [taskmanipulation.h:524] grasper planner failed: 116
> [taskmanipulation.h:524] grasper planner failed: 219
> [taskmanipulation.h:524] grasper planner failed: 140
> [taskmanipulation.h:524] grasper planner failed: 27
> [taskmanipulation.h:524] grasper planner failed: 220
> [taskmanipulation.h:524] grasper planner failed: 228
> [taskmanipulation.h:524] grasper planner failed: 130
> [taskmanipulation.h:524] grasper planner failed: 81
> [taskmanipulation.h:617] IK found: -0.639707 1.04106 -4.15078e-09 2.4415
> -3.61415 0.669327 -0.951322
> [taskmanipulation.h:728] grasp 78: adding to goals
> [taskmanipulation.h:617] IK found: -0.914857 1.40443 -0.05 2.20128
> -4.53853 1.54908 1.95376
> [taskmanipulation.h:728] grasp 110: adding to goals
> [taskmanipulation.h:617] IK found: -1.05392 1.52014 -0.25 2.179 -4.54481
> 1.494 2.29808
> [taskmanipulation.h:728] grasp 165: adding to goals
> [taskmanipulation.h:1300] Starting MoveArm...
> ...
> -----
>
> Does anybody know the problem?
>
>
> --
> Richard Cubek, Dipl.-Ing.(FH)
> University of Applied Sciences Ravensburg-Weingarten
> Intelligent Mobile Robotics Laboratory
> Phone: (0049) (0)751 501 9838
> Mobile: (0049) (0)163 88 39 529
>
>
> ------------------------------------------------------------------------------
> Start uncovering the many advantages of virtual appliances
> and start using them to simplify application deployment and
> accelerate your shift to cloud computing.
> http://p.sf.net/sfu/novell-sfdev2dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>

------------------------------------------------------------------------------
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and start using them to simplify application deployment and
accelerate your shift to cloud computing.
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Re: grasplanning problem if visualizing with viewer

richard
Rosen Diankov schrieb:

> hi richard,
>
> i'm not encountering this problem, and no one has complained on the
> mailing list about this...
>
> my first guess was that the viewer was creating its own thread and it
> is interfering with the planning thread, this could only happen if
> something is not locked.
>
> The graspplanning.py example depends on many modules, do you have any
> other local changes? Can you check out a clean version of openrave and
> try again?
>  
Ok, sorry for harrying with this problem, I followed your instructions:
checked out newest revision, compiled and installed, nothing touched,
changed to python/examples dir and run python graspplanning.py, same
result. Viewer opens with the barret and mugs scene, but the output is:

-----
[libopenrave.cpp:78] initializing!!!!
[openravepy_int.cpp:2557] viewer qtcoin successfully attached
[ikfastproblem.h:206]
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
cannot open shared object file: No such file or directory
[ikfastproblem.h:131] failed to load library
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
mug1 is graspable
mug2 is graspable
mug3 is graspable
mug4 is graspable
mug5 is graspable
mug6 is graspable
searching for destinations on table...
starting to pick and place random objects
grasping object mug3
[taskmanipulation.h:363] failed processing command grasps
failed to grasp object mug3
openrave planning_error: ''
grasping object mug1
[taskmanipulation.h:363] failed processing command grasps
failed to grasp object mug1
openrave planning_error: ''
grasping object mug6
[taskmanipulation.h:363] failed processing command grasps
failed to grasp object mug6
openrave planning_error: ''
grasping object mug1
...
-----

and so on (not ending)

Then opened graspplanning.py and changed again

env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
to
env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)

Now, without visualization, it seems to work, the output is:

-----
[libopenrave.cpp:78] initializing!!!!
[ikfastproblem.h:206]
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
cannot open shared object file: No such file or directory
[ikfastproblem.h:131] failed to load library
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
mug1 is graspable
mug2 is graspable
mug3 is graspable
mug4 is graspable
mug5 is graspable
mug6 is graspable
searching for destinations on table...
starting to pick and place random objects
grasping object mug2
[taskmanipulation.h:1374] finished planning, goal index: 3
grasp 16 initial planning time: 3.855540
moving hand
planning to destination
[basemanipulation.h:797] MoveToHandPosition found 32 solutions
[basemanipulation.h:853] starting planning
[basemanipulation.h:863] finished planning
moving hand down
success:  16
grasping object mug5
[taskmanipulation.h:1374] finished planning, goal index: 8
grasp 43 initial planning time: 7.446620
moving hand
planning to destination
[basemanipulation.h:797] MoveToHandPosition found 32 solutions
[basemanipulation.h:853] starting planning
[basemanipulation.h:863] finished planning
moving hand down
failed to move hand down
success:  43
grasping object mug1
...
-----

and so on

Ok, since you can't reproduce it, I have to live with it. Maybe it's a
third party lib version problem, I don't know. But maybe you have an idea...





> rosen,
>
> 2010/10/1 Richard Cubek <[hidden email]>:
>  
>> Rosen Diankov schrieb:
>>    
>>> hi richard,
>>>
>>> You are forgetting to lock the Environment. Many threads access the
>>> environment information and the only way to get exclusive access to
>>> the environment is lock it. The simplest way to do this in python is
>>> to use the 'with' statement.  For example:
>>>
>>> with env: # lock env
>>>  # do code here
>>>
>>> with robot: # lock env and save robot state
>>>  # do code here
>>>
>>> You'll notice that all demo code uses these constructs. There's more
>>> information about environment locking here:
>>>
>>>
>>> http://openrave.programmingvision.com/ordocs/en/html/architecture_concepts.html
>>>
>>> rosen,
>>>
>>>      
>> Ok, thanks, I'll try it. But however, the problem also occurs running the
>> ORIGINAL graspplanning.py code, shouldn't that demo work?
>>    
>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>
>>>      
>>>> Hi,
>>>>
>>>> I'm experimenting with a modified version of the graspplanning.py
>>>> example - but my grasp planning was never successfull. I recognized,
>>>> failure happens only when I attach the qtcoin viewer (I want to see
>>>> what's happening). Not attaching a viewer, my script works fine. I tried
>>>> the same with the original graspplanning example, simply running
>>>> graspplanning.py, the output is:
>>>>
>>>> -----
>>>> python graspplanning.py
>>>> [openravepy_int.cpp:2884] viewer qtcoin successfully attached
>>>> [ikfastproblem.h:206]
>>>>
>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>> cannot open shared object file: No such file or directory
>>>> [ikfastproblem.h:131] failed to load library
>>>>
>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>> searching for graspable objects
>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>> mug1 is graspable
>>>> mug2 is graspable
>>>> mug3 is graspable
>>>> mug4 is graspable
>>>> mug5 is graspable
>>>> mug6 is graspable
>>>> searching for destinations on table...
>>>> starting to pick and place random objects
>>>> grasping object mug6
>>>> [taskmanipulation.h:260] GraspPlanning...
>>>> [taskmanipulation.h:363] failed processing command grasps
>>>> failed to grasp object mug6
>>>> openrave planning_error: ''
>>>> grasping object mug6
>>>> [taskmanipulation.h:142] using BiRRT planner
>>>> [taskmanipulation.h:260] GraspPlanning...
>>>> [taskmanipulation.h:363] failed processing command grasps
>>>> failed to grasp object mug6
>>>> openrave planning_error: ''
>>>> grasping object mug2
>>>> [taskmanipulation.h:142] using BiRRT planner
>>>> [taskmanipulation.h:260] GraspPlanning...
>>>> [taskmanipulation.h:363] failed processing command grasps
>>>> failed to grasp object mug2
>>>> openrave planning_error: ''
>>>> grasping object mug3
>>>> [taskmanipulation.h:142] using BiRRT planner
>>>> [taskmanipulation.h:260] GraspPlanning...
>>>> [taskmanipulation.h:363] failed processing command grasps
>>>> failed to grasp object mug3
>>>> openrave planning_error: ''
>>>> ...
>>>> -----
>>>>
>>>> and so on, never ending. If i change the line
>>>>
>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>>>> to
>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>>>>
>>>> naturally, there's no visualization, but now it seems to work, the
>>>> output is:
>>>>
>>>> -----
>>>> [ikfastproblem.h:206]
>>>>
>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>> cannot open shared object file: No such file or directory
>>>> [ikfastproblem.h:131] failed to load library
>>>>
>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>> searching for graspable objects
>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>> mug1 is graspable
>>>> mug2 is graspable
>>>> mug3 is graspable
>>>> mug4 is graspable
>>>> mug5 is graspable
>>>> mug6 is graspable
>>>> searching for destinations on table...
>>>> starting to pick and place random objects
>>>> grasping object mug4
>>>> [taskmanipulation.h:260] GraspPlanning...
>>>> [taskmanipulation.h:524] grasper planner failed: 44
>>>> [taskmanipulation.h:524] grasper planner failed: 142
>>>> [taskmanipulation.h:524] grasper planner failed: 132
>>>> [taskmanipulation.h:524] grasper planner failed: 67
>>>> [taskmanipulation.h:524] grasper planner failed: 87
>>>> [taskmanipulation.h:524] grasper planner failed: 116
>>>> [taskmanipulation.h:524] grasper planner failed: 219
>>>> [taskmanipulation.h:524] grasper planner failed: 140
>>>> [taskmanipulation.h:524] grasper planner failed: 27
>>>> [taskmanipulation.h:524] grasper planner failed: 220
>>>> [taskmanipulation.h:524] grasper planner failed: 228
>>>> [taskmanipulation.h:524] grasper planner failed: 130
>>>> [taskmanipulation.h:524] grasper planner failed: 81
>>>> [taskmanipulation.h:617] IK found: -0.639707 1.04106 -4.15078e-09 2.4415
>>>> -3.61415 0.669327 -0.951322
>>>> [taskmanipulation.h:728] grasp 78: adding to goals
>>>> [taskmanipulation.h:617] IK found: -0.914857 1.40443 -0.05 2.20128
>>>> -4.53853 1.54908 1.95376
>>>> [taskmanipulation.h:728] grasp 110: adding to goals
>>>> [taskmanipulation.h:617] IK found: -1.05392 1.52014 -0.25 2.179 -4.54481
>>>> 1.494 2.29808
>>>> [taskmanipulation.h:728] grasp 165: adding to goals
>>>> [taskmanipulation.h:1300] Starting MoveArm...
>>>> ...
>>>> -----
>>>>
>>>> Does anybody know the problem?
>>>>
>>>>
>>>> --
>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>> University of Applied Sciences Ravensburg-Weingarten
>>>> Intelligent Mobile Robotics Laboratory
>>>> Phone: (0049) (0)751 501 9838
>>>> Mobile: (0049) (0)163 88 39 529
>>>>
>>>>
>>>>
>>>> ------------------------------------------------------------------------------
>>>> Start uncovering the many advantages of virtual appliances
>>>> and start using them to simplify application deployment and
>>>> accelerate your shift to cloud computing.
>>>> http://p.sf.net/sfu/novell-sfdev2dev
>>>> _______________________________________________
>>>> Openrave-users mailing list
>>>> [hidden email]
>>>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>>>
>>>>
>>>>        
>>>      
>> --
>> Richard Cubek, Dipl.-Ing.(FH)
>> University of Applied Sciences Ravensburg-Weingarten
>> Intelligent Mobile Robotics Laboratory
>> Phone: (0049) (0)751 501 9838
>> Mobile: (0049) (0)163 88 39 529
>>
>>
>>    
>
>  


--
Richard Cubek, Dipl.-Ing.(FH)
University of Applied Sciences Ravensburg-Weingarten
Intelligent Mobile Robotics Laboratory
Phone: (0049) (0)751 501 9838
Mobile: (0049) (0)163 88 39 529


------------------------------------------------------------------------------
Start uncovering the many advantages of virtual appliances
and start using them to simplify application deployment and
accelerate your shift to cloud computing.
http://p.sf.net/sfu/novell-sfdev2dev
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Openrave-users mailing list
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https://lists.sourceforge.net/lists/listinfo/openrave-users
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Re: grasplanning problem if visualizing with viewer

Rosen Diankov
Administrator
hi richard,

can you start the example with defaultviewer=True with

openrave.py --example graspplanning --level=Verbose > out_viewer

and another one with defaultviewer=False

openrave.py --example graspplanning --level=Verbose > out_noviewer

Let them run for a couple of seconds and ctrl-c to quit, this will
produce two files, please email them.

Don't worry, we'll solve this problem ;0)
rosen,

2010/10/1 Richard Cubek <[hidden email]>:

> Rosen Diankov schrieb:
>> hi richard,
>>
>> i'm not encountering this problem, and no one has complained on the
>> mailing list about this...
>>
>> my first guess was that the viewer was creating its own thread and it
>> is interfering with the planning thread, this could only happen if
>> something is not locked.
>>
>> The graspplanning.py example depends on many modules, do you have any
>> other local changes? Can you check out a clean version of openrave and
>> try again?
>>
> Ok, sorry for harrying with this problem, I followed your instructions:
> checked out newest revision, compiled and installed, nothing touched,
> changed to python/examples dir and run python graspplanning.py, same
> result. Viewer opens with the barret and mugs scene, but the output is:
>
> -----
> [libopenrave.cpp:78] initializing!!!!
> [openravepy_int.cpp:2557] viewer qtcoin successfully attached
> [ikfastproblem.h:206]
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
> cannot open shared object file: No such file or directory
> [ikfastproblem.h:131] failed to load library
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
> mug1 is graspable
> mug2 is graspable
> mug3 is graspable
> mug4 is graspable
> mug5 is graspable
> mug6 is graspable
> searching for destinations on table...
> starting to pick and place random objects
> grasping object mug3
> [taskmanipulation.h:363] failed processing command grasps
> failed to grasp object mug3
> openrave planning_error: ''
> grasping object mug1
> [taskmanipulation.h:363] failed processing command grasps
> failed to grasp object mug1
> openrave planning_error: ''
> grasping object mug6
> [taskmanipulation.h:363] failed processing command grasps
> failed to grasp object mug6
> openrave planning_error: ''
> grasping object mug1
> ...
> -----
>
> and so on (not ending)
>
> Then opened graspplanning.py and changed again
>
> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
> to
> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>
> Now, without visualization, it seems to work, the output is:
>
> -----
> [libopenrave.cpp:78] initializing!!!!
> [ikfastproblem.h:206]
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
> cannot open shared object file: No such file or directory
> [ikfastproblem.h:131] failed to load library
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
> mug1 is graspable
> mug2 is graspable
> mug3 is graspable
> mug4 is graspable
> mug5 is graspable
> mug6 is graspable
> searching for destinations on table...
> starting to pick and place random objects
> grasping object mug2
> [taskmanipulation.h:1374] finished planning, goal index: 3
> grasp 16 initial planning time: 3.855540
> moving hand
> planning to destination
> [basemanipulation.h:797] MoveToHandPosition found 32 solutions
> [basemanipulation.h:853] starting planning
> [basemanipulation.h:863] finished planning
> moving hand down
> success:  16
> grasping object mug5
> [taskmanipulation.h:1374] finished planning, goal index: 8
> grasp 43 initial planning time: 7.446620
> moving hand
> planning to destination
> [basemanipulation.h:797] MoveToHandPosition found 32 solutions
> [basemanipulation.h:853] starting planning
> [basemanipulation.h:863] finished planning
> moving hand down
> failed to move hand down
> success:  43
> grasping object mug1
> ...
> -----
>
> and so on
>
> Ok, since you can't reproduce it, I have to live with it. Maybe it's a
> third party lib version problem, I don't know. But maybe you have an idea...
>
>
>
>
>
>> rosen,
>>
>> 2010/10/1 Richard Cubek <[hidden email]>:
>>
>>> Rosen Diankov schrieb:
>>>
>>>> hi richard,
>>>>
>>>> You are forgetting to lock the Environment. Many threads access the
>>>> environment information and the only way to get exclusive access to
>>>> the environment is lock it. The simplest way to do this in python is
>>>> to use the 'with' statement.  For example:
>>>>
>>>> with env: # lock env
>>>>  # do code here
>>>>
>>>> with robot: # lock env and save robot state
>>>>  # do code here
>>>>
>>>> You'll notice that all demo code uses these constructs. There's more
>>>> information about environment locking here:
>>>>
>>>>
>>>> http://openrave.programmingvision.com/ordocs/en/html/architecture_concepts.html
>>>>
>>>> rosen,
>>>>
>>>>
>>> Ok, thanks, I'll try it. But however, the problem also occurs running the
>>> ORIGINAL graspplanning.py code, shouldn't that demo work?
>>>
>>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>>
>>>>
>>>>> Hi,
>>>>>
>>>>> I'm experimenting with a modified version of the graspplanning.py
>>>>> example - but my grasp planning was never successfull. I recognized,
>>>>> failure happens only when I attach the qtcoin viewer (I want to see
>>>>> what's happening). Not attaching a viewer, my script works fine. I tried
>>>>> the same with the original graspplanning example, simply running
>>>>> graspplanning.py, the output is:
>>>>>
>>>>> -----
>>>>> python graspplanning.py
>>>>> [openravepy_int.cpp:2884] viewer qtcoin successfully attached
>>>>> [ikfastproblem.h:206]
>>>>>
>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>>> cannot open shared object file: No such file or directory
>>>>> [ikfastproblem.h:131] failed to load library
>>>>>
>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>>> searching for graspable objects
>>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>>> mug1 is graspable
>>>>> mug2 is graspable
>>>>> mug3 is graspable
>>>>> mug4 is graspable
>>>>> mug5 is graspable
>>>>> mug6 is graspable
>>>>> searching for destinations on table...
>>>>> starting to pick and place random objects
>>>>> grasping object mug6
>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>> failed to grasp object mug6
>>>>> openrave planning_error: ''
>>>>> grasping object mug6
>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>> failed to grasp object mug6
>>>>> openrave planning_error: ''
>>>>> grasping object mug2
>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>> failed to grasp object mug2
>>>>> openrave planning_error: ''
>>>>> grasping object mug3
>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>> failed to grasp object mug3
>>>>> openrave planning_error: ''
>>>>> ...
>>>>> -----
>>>>>
>>>>> and so on, never ending. If i change the line
>>>>>
>>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>>>>> to
>>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>>>>>
>>>>> naturally, there's no visualization, but now it seems to work, the
>>>>> output is:
>>>>>
>>>>> -----
>>>>> [ikfastproblem.h:206]
>>>>>
>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>>> cannot open shared object file: No such file or directory
>>>>> [ikfastproblem.h:131] failed to load library
>>>>>
>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>>> searching for graspable objects
>>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>>> mug1 is graspable
>>>>> mug2 is graspable
>>>>> mug3 is graspable
>>>>> mug4 is graspable
>>>>> mug5 is graspable
>>>>> mug6 is graspable
>>>>> searching for destinations on table...
>>>>> starting to pick and place random objects
>>>>> grasping object mug4
>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>> [taskmanipulation.h:524] grasper planner failed: 44
>>>>> [taskmanipulation.h:524] grasper planner failed: 142
>>>>> [taskmanipulation.h:524] grasper planner failed: 132
>>>>> [taskmanipulation.h:524] grasper planner failed: 67
>>>>> [taskmanipulation.h:524] grasper planner failed: 87
>>>>> [taskmanipulation.h:524] grasper planner failed: 116
>>>>> [taskmanipulation.h:524] grasper planner failed: 219
>>>>> [taskmanipulation.h:524] grasper planner failed: 140
>>>>> [taskmanipulation.h:524] grasper planner failed: 27
>>>>> [taskmanipulation.h:524] grasper planner failed: 220
>>>>> [taskmanipulation.h:524] grasper planner failed: 228
>>>>> [taskmanipulation.h:524] grasper planner failed: 130
>>>>> [taskmanipulation.h:524] grasper planner failed: 81
>>>>> [taskmanipulation.h:617] IK found: -0.639707 1.04106 -4.15078e-09 2.4415
>>>>> -3.61415 0.669327 -0.951322
>>>>> [taskmanipulation.h:728] grasp 78: adding to goals
>>>>> [taskmanipulation.h:617] IK found: -0.914857 1.40443 -0.05 2.20128
>>>>> -4.53853 1.54908 1.95376
>>>>> [taskmanipulation.h:728] grasp 110: adding to goals
>>>>> [taskmanipulation.h:617] IK found: -1.05392 1.52014 -0.25 2.179 -4.54481
>>>>> 1.494 2.29808
>>>>> [taskmanipulation.h:728] grasp 165: adding to goals
>>>>> [taskmanipulation.h:1300] Starting MoveArm...
>>>>> ...
>>>>> -----
>>>>>
>>>>> Does anybody know the problem?
>>>>>
>>>>>
>>>>> --
>>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>>> University of Applied Sciences Ravensburg-Weingarten
>>>>> Intelligent Mobile Robotics Laboratory
>>>>> Phone: (0049) (0)751 501 9838
>>>>> Mobile: (0049) (0)163 88 39 529
>>>>>
>>>>>
>>>>>
>>>>> ------------------------------------------------------------------------------
>>>>> Start uncovering the many advantages of virtual appliances
>>>>> and start using them to simplify application deployment and
>>>>> accelerate your shift to cloud computing.
>>>>> http://p.sf.net/sfu/novell-sfdev2dev
>>>>> _______________________________________________
>>>>> Openrave-users mailing list
>>>>> [hidden email]
>>>>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>>>>
>>>>>
>>>>>
>>>>
>>> --
>>> Richard Cubek, Dipl.-Ing.(FH)
>>> University of Applied Sciences Ravensburg-Weingarten
>>> Intelligent Mobile Robotics Laboratory
>>> Phone: (0049) (0)751 501 9838
>>> Mobile: (0049) (0)163 88 39 529
>>>
>>>
>>>
>>
>>
>
>
> --
> Richard Cubek, Dipl.-Ing.(FH)
> University of Applied Sciences Ravensburg-Weingarten
> Intelligent Mobile Robotics Laboratory
> Phone: (0049) (0)751 501 9838
> Mobile: (0049) (0)163 88 39 529
>
>
> ------------------------------------------------------------------------------
> Start uncovering the many advantages of virtual appliances
> and start using them to simplify application deployment and
> accelerate your shift to cloud computing.
> http://p.sf.net/sfu/novell-sfdev2dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>

------------------------------------------------------------------------------
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and start using them to simplify application deployment and
accelerate your shift to cloud computing.
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Re: grasplanning problem if visualizing with viewer

Rosen Diankov
Administrator
hi richard,

One more thing that sprung into mind is that your locale might be
getting in the way. Perhaps creating the viewer resets the locale to
something weird. Can you add

locale.setlocale(locale.LC_ALL, 'en_US')

to lines 29 and 175

You need to add "import locale" in the beginning of the file.

rosen,

2010/10/1 Rosen Diankov <[hidden email]>:

> hi richard,
>
> can you start the example with defaultviewer=True with
>
> openrave.py --example graspplanning --level=Verbose > out_viewer
>
> and another one with defaultviewer=False
>
> openrave.py --example graspplanning --level=Verbose > out_noviewer
>
> Let them run for a couple of seconds and ctrl-c to quit, this will
> produce two files, please email them.
>
> Don't worry, we'll solve this problem ;0)
> rosen,
>
> 2010/10/1 Richard Cubek <[hidden email]>:
>> Rosen Diankov schrieb:
>>> hi richard,
>>>
>>> i'm not encountering this problem, and no one has complained on the
>>> mailing list about this...
>>>
>>> my first guess was that the viewer was creating its own thread and it
>>> is interfering with the planning thread, this could only happen if
>>> something is not locked.
>>>
>>> The graspplanning.py example depends on many modules, do you have any
>>> other local changes? Can you check out a clean version of openrave and
>>> try again?
>>>
>> Ok, sorry for harrying with this problem, I followed your instructions:
>> checked out newest revision, compiled and installed, nothing touched,
>> changed to python/examples dir and run python graspplanning.py, same
>> result. Viewer opens with the barret and mugs scene, but the output is:
>>
>> -----
>> [libopenrave.cpp:78] initializing!!!!
>> [openravepy_int.cpp:2557] viewer qtcoin successfully attached
>> [ikfastproblem.h:206]
>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>> cannot open shared object file: No such file or directory
>> [ikfastproblem.h:131] failed to load library
>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>> mug1 is graspable
>> mug2 is graspable
>> mug3 is graspable
>> mug4 is graspable
>> mug5 is graspable
>> mug6 is graspable
>> searching for destinations on table...
>> starting to pick and place random objects
>> grasping object mug3
>> [taskmanipulation.h:363] failed processing command grasps
>> failed to grasp object mug3
>> openrave planning_error: ''
>> grasping object mug1
>> [taskmanipulation.h:363] failed processing command grasps
>> failed to grasp object mug1
>> openrave planning_error: ''
>> grasping object mug6
>> [taskmanipulation.h:363] failed processing command grasps
>> failed to grasp object mug6
>> openrave planning_error: ''
>> grasping object mug1
>> ...
>> -----
>>
>> and so on (not ending)
>>
>> Then opened graspplanning.py and changed again
>>
>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>> to
>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>>
>> Now, without visualization, it seems to work, the output is:
>>
>> -----
>> [libopenrave.cpp:78] initializing!!!!
>> [ikfastproblem.h:206]
>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>> cannot open shared object file: No such file or directory
>> [ikfastproblem.h:131] failed to load library
>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>> mug1 is graspable
>> mug2 is graspable
>> mug3 is graspable
>> mug4 is graspable
>> mug5 is graspable
>> mug6 is graspable
>> searching for destinations on table...
>> starting to pick and place random objects
>> grasping object mug2
>> [taskmanipulation.h:1374] finished planning, goal index: 3
>> grasp 16 initial planning time: 3.855540
>> moving hand
>> planning to destination
>> [basemanipulation.h:797] MoveToHandPosition found 32 solutions
>> [basemanipulation.h:853] starting planning
>> [basemanipulation.h:863] finished planning
>> moving hand down
>> success:  16
>> grasping object mug5
>> [taskmanipulation.h:1374] finished planning, goal index: 8
>> grasp 43 initial planning time: 7.446620
>> moving hand
>> planning to destination
>> [basemanipulation.h:797] MoveToHandPosition found 32 solutions
>> [basemanipulation.h:853] starting planning
>> [basemanipulation.h:863] finished planning
>> moving hand down
>> failed to move hand down
>> success:  43
>> grasping object mug1
>> ...
>> -----
>>
>> and so on
>>
>> Ok, since you can't reproduce it, I have to live with it. Maybe it's a
>> third party lib version problem, I don't know. But maybe you have an idea...
>>
>>
>>
>>
>>
>>> rosen,
>>>
>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>
>>>> Rosen Diankov schrieb:
>>>>
>>>>> hi richard,
>>>>>
>>>>> You are forgetting to lock the Environment. Many threads access the
>>>>> environment information and the only way to get exclusive access to
>>>>> the environment is lock it. The simplest way to do this in python is
>>>>> to use the 'with' statement.  For example:
>>>>>
>>>>> with env: # lock env
>>>>>  # do code here
>>>>>
>>>>> with robot: # lock env and save robot state
>>>>>  # do code here
>>>>>
>>>>> You'll notice that all demo code uses these constructs. There's more
>>>>> information about environment locking here:
>>>>>
>>>>>
>>>>> http://openrave.programmingvision.com/ordocs/en/html/architecture_concepts.html
>>>>>
>>>>> rosen,
>>>>>
>>>>>
>>>> Ok, thanks, I'll try it. But however, the problem also occurs running the
>>>> ORIGINAL graspplanning.py code, shouldn't that demo work?
>>>>
>>>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>>>
>>>>>
>>>>>> Hi,
>>>>>>
>>>>>> I'm experimenting with a modified version of the graspplanning.py
>>>>>> example - but my grasp planning was never successfull. I recognized,
>>>>>> failure happens only when I attach the qtcoin viewer (I want to see
>>>>>> what's happening). Not attaching a viewer, my script works fine. I tried
>>>>>> the same with the original graspplanning example, simply running
>>>>>> graspplanning.py, the output is:
>>>>>>
>>>>>> -----
>>>>>> python graspplanning.py
>>>>>> [openravepy_int.cpp:2884] viewer qtcoin successfully attached
>>>>>> [ikfastproblem.h:206]
>>>>>>
>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>>>> cannot open shared object file: No such file or directory
>>>>>> [ikfastproblem.h:131] failed to load library
>>>>>>
>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>>>> searching for graspable objects
>>>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>>>> mug1 is graspable
>>>>>> mug2 is graspable
>>>>>> mug3 is graspable
>>>>>> mug4 is graspable
>>>>>> mug5 is graspable
>>>>>> mug6 is graspable
>>>>>> searching for destinations on table...
>>>>>> starting to pick and place random objects
>>>>>> grasping object mug6
>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>> failed to grasp object mug6
>>>>>> openrave planning_error: ''
>>>>>> grasping object mug6
>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>> failed to grasp object mug6
>>>>>> openrave planning_error: ''
>>>>>> grasping object mug2
>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>> failed to grasp object mug2
>>>>>> openrave planning_error: ''
>>>>>> grasping object mug3
>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>> failed to grasp object mug3
>>>>>> openrave planning_error: ''
>>>>>> ...
>>>>>> -----
>>>>>>
>>>>>> and so on, never ending. If i change the line
>>>>>>
>>>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>>>>>> to
>>>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>>>>>>
>>>>>> naturally, there's no visualization, but now it seems to work, the
>>>>>> output is:
>>>>>>
>>>>>> -----
>>>>>> [ikfastproblem.h:206]
>>>>>>
>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>>>> cannot open shared object file: No such file or directory
>>>>>> [ikfastproblem.h:131] failed to load library
>>>>>>
>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>>>> searching for graspable objects
>>>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>>>> mug1 is graspable
>>>>>> mug2 is graspable
>>>>>> mug3 is graspable
>>>>>> mug4 is graspable
>>>>>> mug5 is graspable
>>>>>> mug6 is graspable
>>>>>> searching for destinations on table...
>>>>>> starting to pick and place random objects
>>>>>> grasping object mug4
>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>> [taskmanipulation.h:524] grasper planner failed: 44
>>>>>> [taskmanipulation.h:524] grasper planner failed: 142
>>>>>> [taskmanipulation.h:524] grasper planner failed: 132
>>>>>> [taskmanipulation.h:524] grasper planner failed: 67
>>>>>> [taskmanipulation.h:524] grasper planner failed: 87
>>>>>> [taskmanipulation.h:524] grasper planner failed: 116
>>>>>> [taskmanipulation.h:524] grasper planner failed: 219
>>>>>> [taskmanipulation.h:524] grasper planner failed: 140
>>>>>> [taskmanipulation.h:524] grasper planner failed: 27
>>>>>> [taskmanipulation.h:524] grasper planner failed: 220
>>>>>> [taskmanipulation.h:524] grasper planner failed: 228
>>>>>> [taskmanipulation.h:524] grasper planner failed: 130
>>>>>> [taskmanipulation.h:524] grasper planner failed: 81
>>>>>> [taskmanipulation.h:617] IK found: -0.639707 1.04106 -4.15078e-09 2.4415
>>>>>> -3.61415 0.669327 -0.951322
>>>>>> [taskmanipulation.h:728] grasp 78: adding to goals
>>>>>> [taskmanipulation.h:617] IK found: -0.914857 1.40443 -0.05 2.20128
>>>>>> -4.53853 1.54908 1.95376
>>>>>> [taskmanipulation.h:728] grasp 110: adding to goals
>>>>>> [taskmanipulation.h:617] IK found: -1.05392 1.52014 -0.25 2.179 -4.54481
>>>>>> 1.494 2.29808
>>>>>> [taskmanipulation.h:728] grasp 165: adding to goals
>>>>>> [taskmanipulation.h:1300] Starting MoveArm...
>>>>>> ...
>>>>>> -----
>>>>>>
>>>>>> Does anybody know the problem?
>>>>>>
>>>>>>
>>>>>> --
>>>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>>>> University of Applied Sciences Ravensburg-Weingarten
>>>>>> Intelligent Mobile Robotics Laboratory
>>>>>> Phone: (0049) (0)751 501 9838
>>>>>> Mobile: (0049) (0)163 88 39 529
>>>>>>
>>>>>>
>>>>>>
>>>>>> ------------------------------------------------------------------------------
>>>>>> Start uncovering the many advantages of virtual appliances
>>>>>> and start using them to simplify application deployment and
>>>>>> accelerate your shift to cloud computing.
>>>>>> http://p.sf.net/sfu/novell-sfdev2dev
>>>>>> _______________________________________________
>>>>>> Openrave-users mailing list
>>>>>> [hidden email]
>>>>>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>>>>>
>>>>>>
>>>>>>
>>>>>
>>>> --
>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>> University of Applied Sciences Ravensburg-Weingarten
>>>> Intelligent Mobile Robotics Laboratory
>>>> Phone: (0049) (0)751 501 9838
>>>> Mobile: (0049) (0)163 88 39 529
>>>>
>>>>
>>>>
>>>
>>>
>>
>>
>> --
>> Richard Cubek, Dipl.-Ing.(FH)
>> University of Applied Sciences Ravensburg-Weingarten
>> Intelligent Mobile Robotics Laboratory
>> Phone: (0049) (0)751 501 9838
>> Mobile: (0049) (0)163 88 39 529
>>
>>
>> ------------------------------------------------------------------------------
>> Start uncovering the many advantages of virtual appliances
>> and start using them to simplify application deployment and
>> accelerate your shift to cloud computing.
>> http://p.sf.net/sfu/novell-sfdev2dev
>> _______________________________________________
>> Openrave-users mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>
>

------------------------------------------------------------------------------
Start uncovering the many advantages of virtual appliances
and start using them to simplify application deployment and
accelerate your shift to cloud computing.
http://p.sf.net/sfu/novell-sfdev2dev
_______________________________________________
Openrave-users mailing list
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Re: grasplanning problem if visualizing with viewer

richard
Rosen Diankov schrieb:

> hi richard,
>
> One more thing that sprung into mind is that your locale might be
> getting in the way. Perhaps creating the viewer resets the locale to
> something weird. Can you add
>
> locale.setlocale(locale.LC_ALL, 'en_US')
>
> to lines 29 and 175
>
> You need to add "import locale" in the beginning of the file.
>
> rosen,
>  
:-D  Thank you very much, that worked (with setting 'en_US.UTF-8') !




Two final questions:

1) At the beginning of the output, there's always a warning from
ikfastproblem.h (but the demo works):

-----
[libopenrave.cpp:78] initializing!!!!
[openravepy_int.cpp:2557] viewer qtcoin successfully attached
[ikfastproblem.h:206]
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
cannot open shared object file: No such file or directory
[ikfastproblem.h:131] failed to load library
/home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
...
-----

Should I worry about that?


2) Python is the recommended way to use openrave. I guess, that the
time-expensive algorithms are implemented in C/C++ anyhow, so, is the  
performance gain using openrave with C/C++ negligible (concerning the
time expensive openrave-algorithms)?




> 2010/10/1 Rosen Diankov <[hidden email]>:
>  
>> hi richard,
>>
>> can you start the example with defaultviewer=True with
>>
>> openrave.py --example graspplanning --level=Verbose > out_viewer
>>
>> and another one with defaultviewer=False
>>
>> openrave.py --example graspplanning --level=Verbose > out_noviewer
>>
>> Let them run for a couple of seconds and ctrl-c to quit, this will
>> produce two files, please email them.
>>
>> Don't worry, we'll solve this problem ;0)
>> rosen,
>>
>> 2010/10/1 Richard Cubek <[hidden email]>:
>>    
>>> Rosen Diankov schrieb:
>>>      
>>>> hi richard,
>>>>
>>>> i'm not encountering this problem, and no one has complained on the
>>>> mailing list about this...
>>>>
>>>> my first guess was that the viewer was creating its own thread and it
>>>> is interfering with the planning thread, this could only happen if
>>>> something is not locked.
>>>>
>>>> The graspplanning.py example depends on many modules, do you have any
>>>> other local changes? Can you check out a clean version of openrave and
>>>> try again?
>>>>
>>>>        
>>> Ok, sorry for harrying with this problem, I followed your instructions:
>>> checked out newest revision, compiled and installed, nothing touched,
>>> changed to python/examples dir and run python graspplanning.py, same
>>> result. Viewer opens with the barret and mugs scene, but the output is:
>>>
>>> -----
>>> [libopenrave.cpp:78] initializing!!!!
>>> [openravepy_int.cpp:2557] viewer qtcoin successfully attached
>>> [ikfastproblem.h:206]
>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>> cannot open shared object file: No such file or directory
>>> [ikfastproblem.h:131] failed to load library
>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>> mug1 is graspable
>>> mug2 is graspable
>>> mug3 is graspable
>>> mug4 is graspable
>>> mug5 is graspable
>>> mug6 is graspable
>>> searching for destinations on table...
>>> starting to pick and place random objects
>>> grasping object mug3
>>> [taskmanipulation.h:363] failed processing command grasps
>>> failed to grasp object mug3
>>> openrave planning_error: ''
>>> grasping object mug1
>>> [taskmanipulation.h:363] failed processing command grasps
>>> failed to grasp object mug1
>>> openrave planning_error: ''
>>> grasping object mug6
>>> [taskmanipulation.h:363] failed processing command grasps
>>> failed to grasp object mug6
>>> openrave planning_error: ''
>>> grasping object mug1
>>> ...
>>> -----
>>>
>>> and so on (not ending)
>>>
>>> Then opened graspplanning.py and changed again
>>>
>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>>> to
>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>>>
>>> Now, without visualization, it seems to work, the output is:
>>>
>>> -----
>>> [libopenrave.cpp:78] initializing!!!!
>>> [ikfastproblem.h:206]
>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>> cannot open shared object file: No such file or directory
>>> [ikfastproblem.h:131] failed to load library
>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>> mug1 is graspable
>>> mug2 is graspable
>>> mug3 is graspable
>>> mug4 is graspable
>>> mug5 is graspable
>>> mug6 is graspable
>>> searching for destinations on table...
>>> starting to pick and place random objects
>>> grasping object mug2
>>> [taskmanipulation.h:1374] finished planning, goal index: 3
>>> grasp 16 initial planning time: 3.855540
>>> moving hand
>>> planning to destination
>>> [basemanipulation.h:797] MoveToHandPosition found 32 solutions
>>> [basemanipulation.h:853] starting planning
>>> [basemanipulation.h:863] finished planning
>>> moving hand down
>>> success:  16
>>> grasping object mug5
>>> [taskmanipulation.h:1374] finished planning, goal index: 8
>>> grasp 43 initial planning time: 7.446620
>>> moving hand
>>> planning to destination
>>> [basemanipulation.h:797] MoveToHandPosition found 32 solutions
>>> [basemanipulation.h:853] starting planning
>>> [basemanipulation.h:863] finished planning
>>> moving hand down
>>> failed to move hand down
>>> success:  43
>>> grasping object mug1
>>> ...
>>> -----
>>>
>>> and so on
>>>
>>> Ok, since you can't reproduce it, I have to live with it. Maybe it's a
>>> third party lib version problem, I don't know. But maybe you have an idea...
>>>
>>>
>>>
>>>
>>>
>>>      
>>>> rosen,
>>>>
>>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>>
>>>>        
>>>>> Rosen Diankov schrieb:
>>>>>
>>>>>          
>>>>>> hi richard,
>>>>>>
>>>>>> You are forgetting to lock the Environment. Many threads access the
>>>>>> environment information and the only way to get exclusive access to
>>>>>> the environment is lock it. The simplest way to do this in python is
>>>>>> to use the 'with' statement.  For example:
>>>>>>
>>>>>> with env: # lock env
>>>>>>  # do code here
>>>>>>
>>>>>> with robot: # lock env and save robot state
>>>>>>  # do code here
>>>>>>
>>>>>> You'll notice that all demo code uses these constructs. There's more
>>>>>> information about environment locking here:
>>>>>>
>>>>>>
>>>>>> http://openrave.programmingvision.com/ordocs/en/html/architecture_concepts.html
>>>>>>
>>>>>> rosen,
>>>>>>
>>>>>>
>>>>>>            
>>>>> Ok, thanks, I'll try it. But however, the problem also occurs running the
>>>>> ORIGINAL graspplanning.py code, shouldn't that demo work?
>>>>>
>>>>>          
>>>>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>>>>
>>>>>>
>>>>>>            
>>>>>>> Hi,
>>>>>>>
>>>>>>> I'm experimenting with a modified version of the graspplanning.py
>>>>>>> example - but my grasp planning was never successfull. I recognized,
>>>>>>> failure happens only when I attach the qtcoin viewer (I want to see
>>>>>>> what's happening). Not attaching a viewer, my script works fine. I tried
>>>>>>> the same with the original graspplanning example, simply running
>>>>>>> graspplanning.py, the output is:
>>>>>>>
>>>>>>> -----
>>>>>>> python graspplanning.py
>>>>>>> [openravepy_int.cpp:2884] viewer qtcoin successfully attached
>>>>>>> [ikfastproblem.h:206]
>>>>>>>
>>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>>>>> cannot open shared object file: No such file or directory
>>>>>>> [ikfastproblem.h:131] failed to load library
>>>>>>>
>>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>>>>> searching for graspable objects
>>>>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>>>>> mug1 is graspable
>>>>>>> mug2 is graspable
>>>>>>> mug3 is graspable
>>>>>>> mug4 is graspable
>>>>>>> mug5 is graspable
>>>>>>> mug6 is graspable
>>>>>>> searching for destinations on table...
>>>>>>> starting to pick and place random objects
>>>>>>> grasping object mug6
>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>>> failed to grasp object mug6
>>>>>>> openrave planning_error: ''
>>>>>>> grasping object mug6
>>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>>> failed to grasp object mug6
>>>>>>> openrave planning_error: ''
>>>>>>> grasping object mug2
>>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>>> failed to grasp object mug2
>>>>>>> openrave planning_error: ''
>>>>>>> grasping object mug3
>>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>>> failed to grasp object mug3
>>>>>>> openrave planning_error: ''
>>>>>>> ...
>>>>>>> -----
>>>>>>>
>>>>>>> and so on, never ending. If i change the line
>>>>>>>
>>>>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>>>>>>> to
>>>>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>>>>>>>
>>>>>>> naturally, there's no visualization, but now it seems to work, the
>>>>>>> output is:
>>>>>>>
>>>>>>> -----
>>>>>>> [ikfastproblem.h:206]
>>>>>>>
>>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>>>>> cannot open shared object file: No such file or directory
>>>>>>> [ikfastproblem.h:131] failed to load library
>>>>>>>
>>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>>>>> searching for graspable objects
>>>>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>>>>> mug1 is graspable
>>>>>>> mug2 is graspable
>>>>>>> mug3 is graspable
>>>>>>> mug4 is graspable
>>>>>>> mug5 is graspable
>>>>>>> mug6 is graspable
>>>>>>> searching for destinations on table...
>>>>>>> starting to pick and place random objects
>>>>>>> grasping object mug4
>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 44
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 142
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 132
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 67
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 87
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 116
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 219
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 140
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 27
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 220
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 228
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 130
>>>>>>> [taskmanipulation.h:524] grasper planner failed: 81
>>>>>>> [taskmanipulation.h:617] IK found: -0.639707 1.04106 -4.15078e-09 2.4415
>>>>>>> -3.61415 0.669327 -0.951322
>>>>>>> [taskmanipulation.h:728] grasp 78: adding to goals
>>>>>>> [taskmanipulation.h:617] IK found: -0.914857 1.40443 -0.05 2.20128
>>>>>>> -4.53853 1.54908 1.95376
>>>>>>> [taskmanipulation.h:728] grasp 110: adding to goals
>>>>>>> [taskmanipulation.h:617] IK found: -1.05392 1.52014 -0.25 2.179 -4.54481
>>>>>>> 1.494 2.29808
>>>>>>> [taskmanipulation.h:728] grasp 165: adding to goals
>>>>>>> [taskmanipulation.h:1300] Starting MoveArm...
>>>>>>> ...
>>>>>>> -----
>>>>>>>
>>>>>>> Does anybody know the problem?
>>>>>>>
>>>>>>>
>>>>>>> --
>>>>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>>>>> University of Applied Sciences Ravensburg-Weingarten
>>>>>>> Intelligent Mobile Robotics Laboratory
>>>>>>> Phone: (0049) (0)751 501 9838
>>>>>>> Mobile: (0049) (0)163 88 39 529
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>> ------------------------------------------------------------------------------
>>>>>>> Start uncovering the many advantages of virtual appliances
>>>>>>> and start using them to simplify application deployment and
>>>>>>> accelerate your shift to cloud computing.
>>>>>>> http://p.sf.net/sfu/novell-sfdev2dev
>>>>>>> _______________________________________________
>>>>>>> Openrave-users mailing list
>>>>>>> [hidden email]
>>>>>>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>              
>>>>> --
>>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>>> University of Applied Sciences Ravensburg-Weingarten
>>>>> Intelligent Mobile Robotics Laboratory
>>>>> Phone: (0049) (0)751 501 9838
>>>>> Mobile: (0049) (0)163 88 39 529
>>>>>
>>>>>
>>>>>
>>>>>          
>>>>        
>>> --
>>> Richard Cubek, Dipl.-Ing.(FH)
>>> University of Applied Sciences Ravensburg-Weingarten
>>> Intelligent Mobile Robotics Laboratory
>>> Phone: (0049) (0)751 501 9838
>>> Mobile: (0049) (0)163 88 39 529
>>>
>>>
>>> ------------------------------------------------------------------------------
>>> Start uncovering the many advantages of virtual appliances
>>> and start using them to simplify application deployment and
>>> accelerate your shift to cloud computing.
>>> http://p.sf.net/sfu/novell-sfdev2dev
>>> _______________________________________________
>>> Openrave-users mailing list
>>> [hidden email]
>>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>>
>>>      
>
>  


--
Richard Cubek, Dipl.-Ing.(FH)
University of Applied Sciences Ravensburg-Weingarten
Intelligent Mobile Robotics Laboratory
Phone: (0049) (0)751 501 9838
Mobile: (0049) (0)163 88 39 529


------------------------------------------------------------------------------
Start uncovering the many advantages of virtual appliances
and start using them to simplify application deployment and
accelerate your shift to cloud computing.
http://p.sf.net/sfu/novell-sfdev2dev
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Re: grasplanning problem if visualizing with viewer

Rosen Diankov
Administrator
hi richard,

Glad it worked! Can you remove those statements from the python code,
update to r1750 and see if things work?

Using python can be noticeably slower than C++ if you are implementing
a planning loop that needs to run as fast as possible. Python is good
for trying out new code, but if you ever plan to make the code as fast
as possible, you'll have better luck in C++. Also, python does not
support threads running simultaneously.

rosen,

2010/10/1 Richard Cubek <[hidden email]>:

> Rosen Diankov schrieb:
>> hi richard,
>>
>> One more thing that sprung into mind is that your locale might be
>> getting in the way. Perhaps creating the viewer resets the locale to
>> something weird. Can you add
>>
>> locale.setlocale(locale.LC_ALL, 'en_US')
>>
>> to lines 29 and 175
>>
>> You need to add "import locale" in the beginning of the file.
>>
>> rosen,
>>
> :-D  Thank you very much, that worked (with setting 'en_US.UTF-8') !
>
>
>
>
> Two final questions:
>
> 1) At the beginning of the output, there's always a warning from
> ikfastproblem.h (but the demo works):
>
> -----
> [libopenrave.cpp:78] initializing!!!!
> [openravepy_int.cpp:2557] viewer qtcoin successfully attached
> [ikfastproblem.h:206]
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
> cannot open shared object file: No such file or directory
> [ikfastproblem.h:131] failed to load library
> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
> ...
> -----
>
> Should I worry about that?
>
>
> 2) Python is the recommended way to use openrave. I guess, that the
> time-expensive algorithms are implemented in C/C++ anyhow, so, is the
> performance gain using openrave with C/C++ negligible (concerning the
> time expensive openrave-algorithms)?
>
>
>
>
>> 2010/10/1 Rosen Diankov <[hidden email]>:
>>
>>> hi richard,
>>>
>>> can you start the example with defaultviewer=True with
>>>
>>> openrave.py --example graspplanning --level=Verbose > out_viewer
>>>
>>> and another one with defaultviewer=False
>>>
>>> openrave.py --example graspplanning --level=Verbose > out_noviewer
>>>
>>> Let them run for a couple of seconds and ctrl-c to quit, this will
>>> produce two files, please email them.
>>>
>>> Don't worry, we'll solve this problem ;0)
>>> rosen,
>>>
>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>
>>>> Rosen Diankov schrieb:
>>>>
>>>>> hi richard,
>>>>>
>>>>> i'm not encountering this problem, and no one has complained on the
>>>>> mailing list about this...
>>>>>
>>>>> my first guess was that the viewer was creating its own thread and it
>>>>> is interfering with the planning thread, this could only happen if
>>>>> something is not locked.
>>>>>
>>>>> The graspplanning.py example depends on many modules, do you have any
>>>>> other local changes? Can you check out a clean version of openrave and
>>>>> try again?
>>>>>
>>>>>
>>>> Ok, sorry for harrying with this problem, I followed your instructions:
>>>> checked out newest revision, compiled and installed, nothing touched,
>>>> changed to python/examples dir and run python graspplanning.py, same
>>>> result. Viewer opens with the barret and mugs scene, but the output is:
>>>>
>>>> -----
>>>> [libopenrave.cpp:78] initializing!!!!
>>>> [openravepy_int.cpp:2557] viewer qtcoin successfully attached
>>>> [ikfastproblem.h:206]
>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>> cannot open shared object file: No such file or directory
>>>> [ikfastproblem.h:131] failed to load library
>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>> mug1 is graspable
>>>> mug2 is graspable
>>>> mug3 is graspable
>>>> mug4 is graspable
>>>> mug5 is graspable
>>>> mug6 is graspable
>>>> searching for destinations on table...
>>>> starting to pick and place random objects
>>>> grasping object mug3
>>>> [taskmanipulation.h:363] failed processing command grasps
>>>> failed to grasp object mug3
>>>> openrave planning_error: ''
>>>> grasping object mug1
>>>> [taskmanipulation.h:363] failed processing command grasps
>>>> failed to grasp object mug1
>>>> openrave planning_error: ''
>>>> grasping object mug6
>>>> [taskmanipulation.h:363] failed processing command grasps
>>>> failed to grasp object mug6
>>>> openrave planning_error: ''
>>>> grasping object mug1
>>>> ...
>>>> -----
>>>>
>>>> and so on (not ending)
>>>>
>>>> Then opened graspplanning.py and changed again
>>>>
>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>>>> to
>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>>>>
>>>> Now, without visualization, it seems to work, the output is:
>>>>
>>>> -----
>>>> [libopenrave.cpp:78] initializing!!!!
>>>> [ikfastproblem.h:206]
>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>> cannot open shared object file: No such file or directory
>>>> [ikfastproblem.h:131] failed to load library
>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>> searching for graspable objects (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>> mug1 is graspable
>>>> mug2 is graspable
>>>> mug3 is graspable
>>>> mug4 is graspable
>>>> mug5 is graspable
>>>> mug6 is graspable
>>>> searching for destinations on table...
>>>> starting to pick and place random objects
>>>> grasping object mug2
>>>> [taskmanipulation.h:1374] finished planning, goal index: 3
>>>> grasp 16 initial planning time: 3.855540
>>>> moving hand
>>>> planning to destination
>>>> [basemanipulation.h:797] MoveToHandPosition found 32 solutions
>>>> [basemanipulation.h:853] starting planning
>>>> [basemanipulation.h:863] finished planning
>>>> moving hand down
>>>> success:  16
>>>> grasping object mug5
>>>> [taskmanipulation.h:1374] finished planning, goal index: 8
>>>> grasp 43 initial planning time: 7.446620
>>>> moving hand
>>>> planning to destination
>>>> [basemanipulation.h:797] MoveToHandPosition found 32 solutions
>>>> [basemanipulation.h:853] starting planning
>>>> [basemanipulation.h:863] finished planning
>>>> moving hand down
>>>> failed to move hand down
>>>> success:  43
>>>> grasping object mug1
>>>> ...
>>>> -----
>>>>
>>>> and so on
>>>>
>>>> Ok, since you can't reproduce it, I have to live with it. Maybe it's a
>>>> third party lib version problem, I don't know. But maybe you have an idea...
>>>>
>>>>
>>>>
>>>>
>>>>
>>>>
>>>>> rosen,
>>>>>
>>>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>>>
>>>>>
>>>>>> Rosen Diankov schrieb:
>>>>>>
>>>>>>
>>>>>>> hi richard,
>>>>>>>
>>>>>>> You are forgetting to lock the Environment. Many threads access the
>>>>>>> environment information and the only way to get exclusive access to
>>>>>>> the environment is lock it. The simplest way to do this in python is
>>>>>>> to use the 'with' statement.  For example:
>>>>>>>
>>>>>>> with env: # lock env
>>>>>>>  # do code here
>>>>>>>
>>>>>>> with robot: # lock env and save robot state
>>>>>>>  # do code here
>>>>>>>
>>>>>>> You'll notice that all demo code uses these constructs. There's more
>>>>>>> information about environment locking here:
>>>>>>>
>>>>>>>
>>>>>>> http://openrave.programmingvision.com/ordocs/en/html/architecture_concepts.html
>>>>>>>
>>>>>>> rosen,
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>> Ok, thanks, I'll try it. But however, the problem also occurs running the
>>>>>> ORIGINAL graspplanning.py code, shouldn't that demo work?
>>>>>>
>>>>>>
>>>>>>> 2010/10/1 Richard Cubek <[hidden email]>:
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>> Hi,
>>>>>>>>
>>>>>>>> I'm experimenting with a modified version of the graspplanning.py
>>>>>>>> example - but my grasp planning was never successfull. I recognized,
>>>>>>>> failure happens only when I attach the qtcoin viewer (I want to see
>>>>>>>> what's happening). Not attaching a viewer, my script works fine. I tried
>>>>>>>> the same with the original graspplanning example, simply running
>>>>>>>> graspplanning.py, the output is:
>>>>>>>>
>>>>>>>> -----
>>>>>>>> python graspplanning.py
>>>>>>>> [openravepy_int.cpp:2884] viewer qtcoin successfully attached
>>>>>>>> [ikfastproblem.h:206]
>>>>>>>>
>>>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>>>>>> cannot open shared object file: No such file or directory
>>>>>>>> [ikfastproblem.h:131] failed to load library
>>>>>>>>
>>>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>>>>>> searching for graspable objects
>>>>>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>>>>>> mug1 is graspable
>>>>>>>> mug2 is graspable
>>>>>>>> mug3 is graspable
>>>>>>>> mug4 is graspable
>>>>>>>> mug5 is graspable
>>>>>>>> mug6 is graspable
>>>>>>>> searching for destinations on table...
>>>>>>>> starting to pick and place random objects
>>>>>>>> grasping object mug6
>>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>>>> failed to grasp object mug6
>>>>>>>> openrave planning_error: ''
>>>>>>>> grasping object mug6
>>>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>>>> failed to grasp object mug6
>>>>>>>> openrave planning_error: ''
>>>>>>>> grasping object mug2
>>>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>>>> failed to grasp object mug2
>>>>>>>> openrave planning_error: ''
>>>>>>>> grasping object mug3
>>>>>>>> [taskmanipulation.h:142] using BiRRT planner
>>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>>> [taskmanipulation.h:363] failed processing command grasps
>>>>>>>> failed to grasp object mug3
>>>>>>>> openrave planning_error: ''
>>>>>>>> ...
>>>>>>>> -----
>>>>>>>>
>>>>>>>> and so on, never ending. If i change the line
>>>>>>>>
>>>>>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
>>>>>>>> to
>>>>>>>> env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
>>>>>>>>
>>>>>>>> naturally, there's no visualization, but now it seems to work, the
>>>>>>>> output is:
>>>>>>>>
>>>>>>>> -----
>>>>>>>> [ikfastproblem.h:206]
>>>>>>>>
>>>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so:
>>>>>>>> cannot open shared object file: No such file or directory
>>>>>>>> [ikfastproblem.h:131] failed to load library
>>>>>>>>
>>>>>>>> /home/user01/.openrave/kinematics.b4ff7e5e04780df16a6bda565e714741/ikfast11.Transform6D.i686.so
>>>>>>>> searching for graspable objects
>>>>>>>> (robot=ad2fe38ec7010448619366a05c2fbc4d)...
>>>>>>>> mug1 is graspable
>>>>>>>> mug2 is graspable
>>>>>>>> mug3 is graspable
>>>>>>>> mug4 is graspable
>>>>>>>> mug5 is graspable
>>>>>>>> mug6 is graspable
>>>>>>>> searching for destinations on table...
>>>>>>>> starting to pick and place random objects
>>>>>>>> grasping object mug4
>>>>>>>> [taskmanipulation.h:260] GraspPlanning...
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 44
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 142
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 132
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 67
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 87
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 116
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 219
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 140
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 27
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 220
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 228
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 130
>>>>>>>> [taskmanipulation.h:524] grasper planner failed: 81
>>>>>>>> [taskmanipulation.h:617] IK found: -0.639707 1.04106 -4.15078e-09 2.4415
>>>>>>>> -3.61415 0.669327 -0.951322
>>>>>>>> [taskmanipulation.h:728] grasp 78: adding to goals
>>>>>>>> [taskmanipulation.h:617] IK found: -0.914857 1.40443 -0.05 2.20128
>>>>>>>> -4.53853 1.54908 1.95376
>>>>>>>> [taskmanipulation.h:728] grasp 110: adding to goals
>>>>>>>> [taskmanipulation.h:617] IK found: -1.05392 1.52014 -0.25 2.179 -4.54481
>>>>>>>> 1.494 2.29808
>>>>>>>> [taskmanipulation.h:728] grasp 165: adding to goals
>>>>>>>> [taskmanipulation.h:1300] Starting MoveArm...
>>>>>>>> ...
>>>>>>>> -----
>>>>>>>>
>>>>>>>> Does anybody know the problem?
>>>>>>>>
>>>>>>>>
>>>>>>>> --
>>>>>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>>>>>> University of Applied Sciences Ravensburg-Weingarten
>>>>>>>> Intelligent Mobile Robotics Laboratory
>>>>>>>> Phone: (0049) (0)751 501 9838
>>>>>>>> Mobile: (0049) (0)163 88 39 529
>>>>>>>>
>>>>>>>>
>>>>>>>>
>>>>>>>> ------------------------------------------------------------------------------
>>>>>>>> Start uncovering the many advantages of virtual appliances
>>>>>>>> and start using them to simplify application deployment and
>>>>>>>> accelerate your shift to cloud computing.
>>>>>>>> http://p.sf.net/sfu/novell-sfdev2dev
>>>>>>>> _______________________________________________
>>>>>>>> Openrave-users mailing list
>>>>>>>> [hidden email]
>>>>>>>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>>>>>>>
>>>>>>>>
>>>>>>>>
>>>>>>>>
>>>>>> --
>>>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>>>> University of Applied Sciences Ravensburg-Weingarten
>>>>>> Intelligent Mobile Robotics Laboratory
>>>>>> Phone: (0049) (0)751 501 9838
>>>>>> Mobile: (0049) (0)163 88 39 529
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>
>>>> --
>>>> Richard Cubek, Dipl.-Ing.(FH)
>>>> University of Applied Sciences Ravensburg-Weingarten
>>>> Intelligent Mobile Robotics Laboratory
>>>> Phone: (0049) (0)751 501 9838
>>>> Mobile: (0049) (0)163 88 39 529
>>>>
>>>>
>>>> ------------------------------------------------------------------------------
>>>> Start uncovering the many advantages of virtual appliances
>>>> and start using them to simplify application deployment and
>>>> accelerate your shift to cloud computing.
>>>> http://p.sf.net/sfu/novell-sfdev2dev
>>>> _______________________________________________
>>>> Openrave-users mailing list
>>>> [hidden email]
>>>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>>>>
>>>>
>>
>>
>
>
> --
> Richard Cubek, Dipl.-Ing.(FH)
> University of Applied Sciences Ravensburg-Weingarten
> Intelligent Mobile Robotics Laboratory
> Phone: (0049) (0)751 501 9838
> Mobile: (0049) (0)163 88 39 529
>
>
> ------------------------------------------------------------------------------
> Start uncovering the many advantages of virtual appliances
> and start using them to simplify application deployment and
> accelerate your shift to cloud computing.
> http://p.sf.net/sfu/novell-sfdev2dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>

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Start uncovering the many advantages of virtual appliances
and start using them to simplify application deployment and
accelerate your shift to cloud computing.
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Re: grasplanning problem if visualizing with viewer

richard

> hi richard,
>
> Glad it worked! Can you remove those statements from the python code,
> update to r1750 and see if things work?
>  
Sorry for the late response. Updated to newest revision, and yes, the
problem with the locale setting (crashing GUI) does no longer exist.
Thank you.

best

Richard

--
Richard Cubek, Dipl.-Ing.(FH)
University of Applied Sciences Ravensburg-Weingarten
Intelligent Mobile Robotics Laboratory
Phone: (0049) (0)751 501 9838
Mobile: (0049) (0)163 88 39 529


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