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BerkeleyAutomation / dex-net

Repository for reading the Dex-Net 2.0 HDF5 database of 3D objects, parallel-jaw grasps, and robust grasp metrics
https://berkeleyautomation.github.io/dex-net/code.html
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Display object failed: figure() got an unexpected keyword argument 'bgcolor' #57

Open ImInsulator opened 4 years ago

ImInsulator commented 4 years ago

Using: Ubuntu 16.04, ROS-Kinetic

All 15 tests are OK when running sudo python setup.py test. Log from dexnet_cli.py:


$ python apps/dexnet_cli.py
/usr/local/lib/python2.7/dist-packages/requests/__init__.py:83: RequestsDependencyWarning: Old version of cryptography ([1, 2, 3]) may cause slowdown.
  warnings.warn(warning, RequestsDependencyWarning)
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
WARNING:root:Failed to import ROS in Kinect2_sensor.py. Kinect will not be able to be used in bridged mode
WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly
WARNING:root:Unable to import pyrealsense2.
WARNING:root:Failed to import ROS in ensenso_sensor.py. ROS functionality not available
WARNING:root:Failed to import ROS in phoxi_sensor.py. PhoXiSensor functionality unavailable.
WARNING:tensorflow:
The TensorFlow contrib module will not be included in TensorFlow 2.0.
For more information, please see:
  * https://github.com/tensorflow/community/blob/master/rfcs/20180907-contrib-sunset.md
  * https://github.com/tensorflow/addons
  * https://github.com/tensorflow/io (for I/O related ops)
If you depend on functionality not listed there, please file an issue.

WARNING:tensorflow:
The TensorFlow contrib module will not be included in TensorFlow 2.0.
For more information, please see:
  * https://github.com/tensorflow/community/blob/master/rfcs/20180907-contrib-sunset.md
  * https://github.com/tensorflow/addons
  * https://github.com/tensorflow/io (for I/O related ops)
If you depend on functionality not listed there, please file an issue.

WARNING:tensorflow:From /home/xjy/catkin_ws/src/gqcnn/gqcnn/utils/enums.py:40: The name tf.RunOptions is deprecated. Please use tf.compat.v1.RunOptions instead.

WARNING:tensorflow:From /home/xjy/catkin_ws/src/gqcnn/gqcnn/utils/enums.py:40: The name tf.RunOptions is deprecated. Please use tf.compat.v1.RunOptions instead.

root       WARNING  Failed to import gqcnn! Grasp2D functions will not be available.
root       WARNING  Failed to import mayavi
root       WARNING  Failed to import mayavi
root       WARNING  Failed to import mayavi
root       WARNING  Failed to import mayavi
root       WARNING  Failed to import mayavi
root       WARNING  Failed to import OpenRAVE
root       WARNING  Failed to import mayavi
root       WARNING  Failed to import OpenRAVE
OpenGL.acceleratesupport INFO     OpenGL_accelerate module loaded
OpenGL.arrays.arraydatatype INFO     Using accelerated ArrayDatatype
root       INFO     Failed to import mayavi
####################################################
DEX-NET 0.1 Command Line Interface
Brought to you by AutoLab, UC Berkeley
####################################################

AVAILABLE COMMANDS:
0) Open a database
1) Open a dataset
2) Display object
3) Display stable poses for object
4) Display grasps for object
5) Generate simulation data for object
6) Compute metadata
7) Display metadata
8) Export objects
9) Set config (advanced)
10) Quit

Enter a numeric command: 0
Enter database name: example.hdf5
Opened database example.hdf5

Database has one dataset, opened dataset mini_dexnet

AVAILABLE COMMANDS:
0) Open a database
1) Open a dataset
2) Display object
3) Display stable poses for object
4) Display grasps for object
5) Generate simulation data for object
6) Compute metadata
7) Display metadata
8) Export objects
9) Set config (advanced)
10) Quit

Enter a numeric command: 2

Available values:
bar_clamp
climbing_hold
endstop_holder
gearbox
mount1
mount2
nozzle
part1
part3
pawn
pipe_connector
turbine_housing
vase

Enter object key: vase
dexnet.api INFO     Displaying vase
Display object failed: figure() got an unexpected keyword argument 'bgcolor'

I guess it's because of my matplotlib. But I checked the version matplotlib==1.4.3 should be fine. So I really don't know what wrong, can anybody help me with it?

ImInsulator commented 4 years ago

I re-installed my visualization package, still no good.

$ pip install --upgrade visualization
/home/xjy/.local/lib/python2.7/site-packages/pip/_vendor/requests/__init__.py:83: RequestsDependencyWarning: Old version of cryptography ([1, 2, 3]) may cause slowdown.
  warnings.warn(warning, RequestsDependencyWarning)
DEPRECATION: Python 2.7 reached the end of its life on January 1st, 2020. Please upgrade your Python as Python 2.7 is no longer maintained. pip 21.0 will drop support for Python 2.7 in January 2021. More details about Python 2 support in pip, can be found at https://pip.pypa.io/en/latest/development/release-process/#python-2-support
Defaulting to user installation because normal site-packages is not writeable
Requirement already up-to-date: visualization in /home/xjy/catkin_ws/src/visualization (0.1.4)
Requirement already satisfied, skipping upgrade: imageio<=2.6.1 in /home/xjy/.local/lib/python2.7/site-packages (from visualization) (2.6.1)
Requirement already satisfied, skipping upgrade: numpy in /home/xjy/.local/lib/python2.7/site-packages (from visualization) (1.16.0)
Requirement already satisfied, skipping upgrade: matplotlib<=2.2.0 in /usr/local/lib/python2.7/dist-packages (from visualization) (1.4.3)
Requirement already satisfied, skipping upgrade: trimesh[easy] in /home/xjy/.local/lib/python2.7/site-packages (from visualization) (2.24.9)
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ImInsulator commented 4 years ago

@jeffmahler @manuelli @mmatl @Binaryhalibut Thank you for your time if you'd like to help.

ImInsulator commented 4 years ago

Also, I can't display grasps for object.

dexnet.api INFO     Displaying grasps for gripper yumi_metal_spline on object vase
Grasp 92 robust_ferrari_canny=0.00741
Display grasps failed: global name 'mlab' is not defined
smmukhal commented 4 years ago

You can get rid of bgcolor error by changing the line 603 in dexnet/src/dexnet/api.py. From: vis.figure(bgcolor=(1,1,1), size=(1000,1000)) To: vis.figure(bg_color=(1,1,1), size=(1000,1000))

simjaecheol commented 3 years ago

You can get rid of bgcolor error by changing the line 603 in dexnet/src/dexnet/api.py. From: vis.figure(bgcolor=(1,1,1), size=(1000,1000)) To: vis.figure(bg_color=(1,1,1), size=(1000,1000))

Thanks! it works to me :+1: