imdoublecats
commented
4 years ago 1.SDFGen was not installed properly，i reinstalled it by running the command under the directory"deps/SDFGen":
sh install.sh
2.Because I'm using an anaconda environment instead of the system environment, the path of SDFGen should be added to the environment.
run the following command in the anaconda environment:
export PATH=<the path of SDFGen executable file>:$PATH
I installed dex-net with gpu python on Ubuntu 16.04 LTS. When I ran "python setup.py test", an error occured. Here is the log:
running test WARNING: Testing via this command is deprecated and will be removed in a future version. Users looking for a generic test entry point independent of test runner are encouraged to use tox. running egg_info writing requirements to src/dex_net.egg-info/requires.txt writing src/dex_net.egg-info/PKG-INFO writing top-level names to src/dex_net.egg-info/top_level.txt writing dependency_links to src/dex_net.egg-info/dependency_links.txt reading manifest file 'src/dex_net.egg-info/SOURCES.txt' writing manifest file 'src/dex_net.egg-info/SOURCES.txt' running build_ext WARNING:root:Failed to import geometry msgs in rigid_transformations.py. WARNING:root:Failed to import ros dependencies in rigid_transforms.py WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly. WARNING:root:Failed to import ROS in Kinect2_sensor.py. Kinect will not be able to be used in bridged mode WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly WARNING:root:Unable to import pyrealsense2. WARNING:root:Failed to import ROS in ensenso_sensor.py. ROS functionality not available WARNING:root:Failed to import ROS in phoxi_sensor.py. PhoXiSensor functionality unavailable. WARNING:root:Unable to import weight sensor modules! WARNING:tensorflow: The TensorFlow contrib module will not be included in TensorFlow 2.0. For more information, please see:
WARNING:tensorflow:From /home/siasun/workspace/wyl/dex-net-master/deps/gqcnn/gqcnn/utils/enums.py:44: The name tf.RunOptions is deprecated. Please use tf.compat.v1.RunOptions instead.
root WARNING Failed to import gqcnn! Grasp2D functions will not be available. Qt: Session management error: None of the authentication protocols specified are supported root WARNING Failed to import OpenRAVE root WARNING Failed to import OpenRAVE test_illegal_create (test.database_test.Hdf5DatabaseTest) ... ok test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest) ... Input mesh /home/siasun/workspace/wyl/dex-net-master/data/test/models/bar_clamp.obj output mesh /home/siasun/workspace/wyl/dex-net-master/.dexnet/bar_clamp_proc.obj Loading Plugins: Current Plugins Dir is: /usr/lib/meshlab/plugins Error in XMLFile: filter_measure.xml - line: -1, column: -1 - Error in XMLFile: filter_mutualinfo.xml - line: -1, column: -1 - Total 227 filtering actions Total 13 io plugins Opening a file with extention obj Mesh bar_clamp.obj loaded has 1428 vn 476 fn No Script to apply. Mesh /home/siasun/workspace/wyl/dex-net-master/data/test/models/bar_clamp.obj saved as /home/siasun/workspace/wyl/dex-net-master/.dexnet/bar_clamp_proc.obj (1428 vn 476 fn) root INFO MeshlabServer Command: meshlabserver -i "data/test/models/bar_clamp.obj" -o ".dexnet/bar_clamp_proc.obj" sh: 1: SDFGen: not found root INFO SDF Command: SDFGen ".dexnet/bar_clamp_proc.obj" 100 5 ERROR test_gaussian_uniform_alloc (test.learning_test.LearningTest) ... ok test_thompson_sampling (test.learning_test.LearningTest) ... ok test_uniform_alloc (test.learning_test.LearningTest) ... ok test_antipodal_grasp_sampler (test.grasping_test.GraspTest) ... root INFO Num surface: 30160 root INFO 17/100 grasps found after iteration 1. root INFO Num surface: 30160 root ERROR Singular matrix. Probably a bug root INFO 37/100 grasps found after iteration 2. root INFO Num surface: 30160 root INFO 57/100 grasps found after iteration 3. root INFO Found 57 grasps. ok test_contacts (test.grasping_test.GraspTest) ... root INFO 25/100 grasps found after iteration 1. root INFO 56/100 grasps found after iteration 2. root INFO 78/100 grasps found after iteration 3. root INFO Found 78 grasps. ok test_find_contacts (test.grasping_test.GraspTest) ... ok test_force_closure (test.grasping_test.GraspTest) ... ok test_grasp_quality_functions (test.grasping_test.GraspTest) ... root INFO 26/100 grasps found after iteration 1. root INFO 51/100 grasps found after iteration 2. root INFO 76/100 grasps found after iteration 3. root INFO Found 76 grasps. ok test_init_grasp (test.grasping_test.GraspTest) ... ok test_init_graspable (test.grasping_test.GraspTest) ... ok test_init_gripper (test.grasping_test.GraspTest) ... ok test_min_norm_vector_in_facet (test.grasping_test.GraspTest) ... ok test_wrench_in_positive_span (test.grasping_test.GraspTest) ... ok
====================================================================== ERROR: test_new_database_and_graspable (test.database_test.Hdf5DatabaseTest)
Traceback (most recent call last): File "/home/siasun/workspace/wyl/dex-net-master/test/database_test.py", line 91, in test_new_database_and_graspable mesh_processor.generate_graspable(CONFIG) File "/home/siasun/workspace/wyl/dex-net-master/src/dexnet/database/mesh_processor.py", line 160, in generate_graspable self._generate_sdf(config['path_to_sdfgen'], config['sdf_dim'], config['sdf_padding']) File "/home/siasun/workspace/wyl/dex-net-master/src/dexnet/database/mesh_processor.py", line 334, in _generate_sdf raise ValueError('SDF computation failed for %s' %(self.sdf_filename)) ValueError: SDF computation failed for .dexnet/bar_clamp_proc.sdf
Ran 15 tests in 104.199s
FAILED (errors=1) Test failed:
error: Test failed: