openrave with ubuntu 14.04

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openrave with ubuntu 14.04

ghanim
Hi all,

So I started today to compile and work with OpenRave. I am working with linux ubuntu 14.04 trusty. So first thing I tried to follow the instructions given here for installing the library and I ran into couple of problems:
- First thing when I try to install the dependencies via the apt-get command it doesn't, I guess it is because there are no recognized precompiled packages of openrave for ubuntu 14.04.

- Second thing is that the setting of python directory command doesn't work, I always get the error:

  openrave-config: command not found

So anyway I simply installed all required libraries following this tutorial. At the compilation step I had errors related to boost but I found out that it was due to the fact that my gcc & g++ were set at version 5 so I downgraded them to 4 and recompile and everything compiled fine.

After I finished compiling still the command related to openrave-config isn't recognized, so the sourcing of the bash file doesn't work, consequently the auto completion doesn't work as well. So I can't run the examples using the command given in the tutorial above, and even when I try to run by giving the full path to the python script (like hanoi.py) still I got error about importing modules (I guess because of the setting of PYTHONPATH).

So my question is how to make the command (openrave-config) work?

Cheers!

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Re: openrave with ubuntu 14.04

yijiangh
This post was updated on .
ghanim wrote
Hi all,

So I started today to compile and work with OpenRave. I am working with linux ubuntu 14.04 trusty. So first thing I tried to follow the instructions given here for installing the library and I ran into couple of problems:
- First thing when I try to install the dependencies via the apt-get command it doesn't, I guess it is because there are no recognized precompiled packages of openrave for ubuntu 14.04.

- Second thing is that the setting of python directory command doesn't work, I always get the error:

  openrave-config: command not found

So anyway I simply installed all required libraries following this tutorial. At the compilation step I had errors related to boost but I found out that it was due to the fact that my gcc & g++ were set at version 5 so I downgraded them to 4 and recompile and everything compiled fine.

After I finished compiling still the command related to openrave-config isn't recognized, so the sourcing of the bash file doesn't work, consequently the auto completion doesn't work as well. So I can't run the examples using the command given in the tutorial above, and even when I try to run by giving the full path to the python script (like hanoi.py) still I got error about importing modules (I guess because of the setting of PYTHONPATH).

So my question is how to make the command (openrave-config) work?

Cheers!
Hi ghanim,

   I think it might be helpful if you take a look at my blog. I jotted down some technical issues when I was installing openrave and I'm using Ubuntu 14.04 too. Some useful tutorials and links are also listed in the blog.

  Hope it will help. Good luck.

Best,
Yijiang
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Re: openrave with ubuntu 14.04

ghanim
Hi Yijiang,

Thanks for your reply, but I found out I did a very stupid mistake which was I forgot to run the last line to install the library (sudo make install). Another thing, for some reason I have to specify the version with the command, so the command becomes:

openrave0.9-config --<options>

Anyway now I can run the examples, but get another error right after an example starts. For example when I run:

openrave.py --example hanoi

The example runs briefly and I see the screen for a very short time then it collapses with the following message:

2017-01-19 13:20:04,752 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-01-19 13:20:04,752 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-01-19 13:20:04,752 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-01-19 13:20:04,752 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-01-19 13:20:04,752 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-01-19 13:20:04,752 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-01-19 13:20:04,765 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-01-19 13:20:04,766 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-01-19 13:20:04,930 openrave [ERROR] [ikfastsolver.cpp:239 Init] inverse kinematics hashes do not match for manip Puma:arm. IK will not work! 74458059fde60df7401cc1dfcfa06d15!=a6c70e6dd694838553470dde754d5825
robot resolutions:  [  7.44891743e-05   8.76348043e-05   1.03408517e-04   1.22876902e-04
   1.38651137e-04   1.65434356e-04   2.20197324e-04]
robot weights:  [ 1.55474929  1.32152963  1.11994634  0.94250415  0.83527617  0.700048
  0.52594641]
hanoimove disk2 from srcpeg to destpeg
2017-01-19 13:20:04,944 openrave [INFO] [?:-1 ?] opening hand
*** Error in `python': malloc(): memory corruption (fast): 0x000000000326d3f0 ***
Aborted (core dumped)


Another example is when I ran (graspplaning)

2017-01-19 13:27:18,886 openrave [ERROR] [kinbody.cpp:3451 KinBody::_ComputeInternalInformation] failed to set mimic equations on kinematics body BarrettWAM: openrave (InvalidArguments): [virtual void OpenRAVE::KinBody::Joint::SetMimicEquations(int, const string&, const string&, const string&):1324] failed to set equation 'JF1/3+0.8727' on BarrettWAM:JF1mimic, at 10. Error is Syntax error: Operator expected

openravepy.databases.inversekinematics: GetDefaultIndices, found 3-intersection centered on index 1
openravepy.databases.inversekinematics: GetDefaultIndices, found 3-intersection centered on index 5
robot resolutions:  [ 0.00396017  0.00455076  0.00593835  0.00951787  0.01218716  0.0175349
  0.02203869  0.0606854   0.0606854   0.0606854   0.04497103]
robot weights:  [ 2.77253268  2.41271402  1.84894655  1.15358696  0.90092279  0.62616198
  0.49820064  0.18092804  0.18092804  0.18092804  0.24415027]
searching for graspable objects (robot=32bb83b9a903a53e2241e4a9f3bff8b8)...
attempting to auto-generate a grasp table
Generating Grasp Set for BarrettWAM:arm:mug1
2017-01-19 13:27:20,129 openrave [INFO] [graspermodule.cpp:814 _GraspThreadedCommand] number of grasps to test: 1104
*** Error in `python': malloc(): memory corruption (fast): 0x00007f6369243630 ***
Aborted (core dumped)


Any ideas?

Thanks in advance

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Re: openrave with ubuntu 14.04

sirop
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Re: openrave with ubuntu 14.04

ghanim
Hi Sirop, sorry for the late reply, So I tried the code, it also showed the qtcoin window for a moment then crashed with the following messages:

 2017-02-15 15:47:27,411 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,412 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,413 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,414 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,414 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,416 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,416 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,418 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,418 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,418 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,418 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,418 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,418 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,419 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,419 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,419 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,419 openrave [WARN] [colladareader.cpp:2228 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-02-15 15:47:27,674 openrave [ERROR] [ikfastsolver.cpp:239 Init] inverse kinematics hashes do not match for manip katana:arm. IK will not work! bca06b479cf02fb3ab041adcebe43269!=ab9d03903279e44bc692e896791bcd05
No handlers could be found for logger "openravepy.ikfast"
QtDBus: cannot relay signals from parent QObject(0x7f9bf0320780 "") unless they are emitted in the object's thread QThread(0x7f9bf0011260 ""). Current thread is QThread(0x13a3540 "").
QtDBus: cannot relay signals from parent QObject(0x7f9bf0320780 "") unless they are emitted in the object's thread QThread(0x7f9bf0011260 ""). Current thread is QThread(0x13a3540 "").
2017-02-15 15:47:33,254 openrave [WARN] [qtcoinrave.cpp:80 DestroyPlugin] SoQt releasing all memory
Coin debug: socontexthandler_cleanup(): 120 context-bound resources not free'd before exit.
Traceback (most recent call last):
  File "/usr/local/bin/openrave.py", line 133, in <module>
    import openravepy.examples
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/__init__.py", line 25, in <module>
    import tutorial_iktranslation
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/tutorial_iktranslation.py", line 25, in <module>
    ikmodel.autogenerate()
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py", line 654, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py", line 885, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2292, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/databases/inversekinematics.py", line 716, in solveFullIK_Translation3D
    return self.ikfast.IKFastSolver.solveFullIK_Translation3D(*args,**kwargs)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2476, in solveFullIK_Translation3D
    return self._solveFullIK_Translation3D(LinksRaw,jointvars,isolvejointvars,basepos)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2497, in _solveFullIK_Translation3D
    transtree = self.SolveAllEquations(AllEquations,curvars=solvejointvars[:],othersolvedvars=self.freejointvars,solsubs = self.freevarsubs[:],endbranchtree=endbranchtree)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 6866, in SolveAllEquations
    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 7232, in AddSolution
    nextsolutions[var] = self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 6907, in SolveAllEquations
    raise self.CannotSolveError('SolveAllEquations failed to find a variable to solve')
openravepy.ikfast.CannotSolveError: CannotSolveError: SolveAllEquations failed to find a variable to solve
QThreadStorage: Thread 0x7f9bf0011260 exited after QThreadStorage 6 destroyed
QThreadStorage: Thread 0x7f9bf0011260 exited after QThreadStorage 5 destroyed
QThreadStorage: Thread 0x7f9bf0011260 exited after QThreadStorage 4 destroyed
QThreadStorage: Thread 0x7f9bf0011260 exited after QThreadStorage 3 destroyed
QThreadStorage: Thread 0x7f9bf0011260 exited after QThreadStorage 2 destroyed
QThreadStorage: Thread 0x7f9bf0011260 exited after QThreadStorage 1 destroyed
Segmentation fault (core dumped)


Any ideas?!
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Re: openrave with ubuntu 14.04

sirop
I have just run openrave.py --example hanoi without any problems on Ubuntu 14.4
with
~/openrave$ git log | head -5
commit 3fa55b84c3a6fa9d704f194ccb392db73f3024cd
Merge: 1fdb7b6 cc88fa2
Author: Rosen Diankov <rosen.diankov@gmail.com>
Date:   Mon Nov 28 23:11:25 2016 +0900


As you tried twice to install openrave, I guess this error message
openrave [ERROR] [ikfastsolver.cpp:239 Init] inverse kinematics hashes do not match
may be due to overlapping installations of openrave.
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Re: openrave with ubuntu 14.04

ghanim
Okay that is good, I have the same commit already, so I will try to remove other installations and see how it goes. Any advice on a clean way to remove other installations? Because basically I just delete all headers, and libs, is that enough?
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Re: openrave with ubuntu 14.04

sirop
try  sudo make uninstall
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Re: openrave with ubuntu 14.04

ghanim
So I think now everything is in order, but the example (hanoi) crashes, after longer time, the output is:

2017-02-16 13:28:59,127 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name fcl_, interface collisionchecker
2017-02-16 13:28:59,291 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-02-16 13:28:59,291 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-02-16 13:28:59,291 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-02-16 13:28:59,291 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-02-16 13:28:59,291 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-02-16 13:28:59,291 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-02-16 13:28:59,304 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-02-16 13:28:59,304 openrave [WARN] [colladareader.cpp:2015 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] bad joint resolution 0.000000
2017-02-16 13:28:59,471 openrave [ERROR] [ikfastsolver.cpp:239 Init] inverse kinematics hashes do not match for manip Puma:arm. IK will not work! 74458059fde60df7401cc1dfcfa06d15!=a6c70e6dd694838553470dde754d5825
robot resolutions:  [  7.44891743e-05   8.76348043e-05   1.03408517e-04   1.22876902e-04
   1.38651137e-04   1.65434356e-04   2.20197324e-04]
robot weights:  [ 1.55474929  1.32152963  1.11994634  0.94250415  0.83527617  0.700048
  0.52594641]
hanoimove disk2 from srcpeg to destpeg
2017-02-16 13:28:59,482 openrave [INFO] [?:-1 ?] opening hand
2017-02-16 13:29:21,818 openrave [WARN] [basemanipulation.cpp:955 MoveUnsyncJoints] failed to jitter robot out of collision
2017-02-16 13:29:22,813 openrave [WARN] [?:-1 ?] Planning Error
MoveUnsyncJoints
2017-02-16 13:29:45,337 openrave [WARN] [basemanipulation.cpp:955 MoveUnsyncJoints] failed to jitter robot out of collision
QtDBus: cannot relay signals from parent QObject(0x7f21e4320e00 "") unless they are emitted in the object's thread QThread(0x7f21e4011230 ""). Current thread is QThread(0x15e08b0 "").
QtDBus: cannot relay signals from parent QObject(0x7f21e4320e00 "") unless they are emitted in the object's thread QThread(0x7f21e4011230 ""). Current thread is QThread(0x15e08b0 "").
2017-02-16 13:29:46,327 openrave [WARN] [qtcoinrave.cpp:80 DestroyPlugin] SoQt releasing all memory
Coin debug: socontexthandler_cleanup(): 66 context-bound resources not free'd before exit.
Traceback (most recent call last):
  File "/usr/local/bin/openrave.py", line 149, in <module>
    example.run(args=args)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/openravepy_ext.py", line 64, in newfn
    return fn(*args,**kwargs)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/hanoi.py", line 235, in run
    OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py", line 240, in parseAndCreateThreadedUser
    SetViewerUserThread(env,viewername,lambda: userfn(env,options))
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py", line 100, in SetViewerUserThread
    userfn()
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/misc.py", line 240, in <lambda>
    SetViewerUserThread(env,viewername,lambda: userfn(env,options))
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/hanoi.py", line 215, in main
    hanoi.hanoisolve(3,hanoi.srcpeg,hanoi.destpeg,hanoi.peg)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/hanoi.py", line 205, in hanoisolve
    self.hanoisolve(n-1, pegfrom, pegby, pegto)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/hanoi.py", line 205, in hanoisolve
    self.hanoisolve(n-1, pegfrom, pegby, pegto)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/hanoi.py", line 199, in hanoisolve
    if not self.hanoimove(disk, pegfrom, pegto, self.heights[len(pegto.disks)]):
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/hanoi.py", line 189, in hanoimove
    openhandfn()
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/hanoi.py", line 158, in <lambda>
    openhandfn = lambda: self.MoveToPosition([-0.7],self.robot.GetActiveManipulator().GetGripperIndices())
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/examples/hanoi.py", line 84, in MoveToPosition
    self.basemanip.MoveUnsyncJoints(jointvalues=values,jointinds=indices)
  File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/interfaces/BaseManipulation.py", line 253, in MoveUnsyncJoints
    raise PlanningError('MoveUnsyncJoints')
openravepy._openravepy_0_9.openravepy_ext.PlanningError: Planning Error
MoveUnsyncJoints

Any ideas?
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