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JenniferBuehler / grasp-execution-pkgs

Package(s) to execute a grasp incl. execution in Gazebo
BSD 3-Clause "New" or "Revised" License
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Cannot save result to file for automatic grasping #6

Closed shenlirobot closed 6 years ago

shenlirobot commented 6 years ago

Hi Jennifer: I am trying to follow the tutorial at https://github.com/JenniferBuehler/grasp-execution-pkgs/wiki/Automated-grasping-tutorial#part-2-grasp-from-file. When I am generating a grasp, I follow the commands in the tutorial. But although it seems that the eigen planning is done, I have not result saved to file. I got this message:

[ INFO] [1507775609.003429447]: Current Step: 70000 - EigenGraspPlanner.cpp, 1066
[ INFO] [1507775609.003439659]: Energy: 51.6533 - EigenGraspPlanner.cpp, 1154
[ INFO] [1507775609.003448782]: Planning complete!! - EigenGraspPlanner.cpp, 173
[ INFO] [1507775609.066206204]: === EigenGraspPlanner complete === - EigenGraspPlanner.cpp, 1052
[ INFO] [1507775609.066227874]: Planning done. - EigenGraspPlanner.cpp, 375
MoveDOF failsafe hit
MoveDOF failsafe hit
MoveDOF failsafe hit
[ INFO] [1507775609.144367963]: Saving result world files in ~/Desktop/111/ - GraspItServices.cpp, 396
Open finger loops: 500 Hand: jaco_robot
[ INFO] [1507775609.944596416]: INFO - EigenGraspPlanner: quickOpen() returned false. The hand may have been completely opened (quickOpen() is a Graspit! hack with no alternative so far, as auto-grasp requires collision-free state) - EigenGraspPlanner.cpp, 504
[ WARN] [1507775609.944627487]: Could not correctly open hand with auto-grasp, the pre-grasp state may not be ideal. - EigenGraspPlanner.cpp, 530
Open finger loops: 500 Hand: jaco_robot
[ INFO] [1507775609.952631532]: INFO - EigenGraspPlanner: quickOpen() returned false. The hand may have been completely opened (quickOpen() is a Graspit! hack with no alternative so far, as auto-grasp requires collision-free state) - EigenGraspPlanner.cpp, 504
[ WARN] [1507775609.952644249]: Could not correctly open hand with auto-grasp, the pre-grasp state may not be ideal. - EigenGraspPlanner.cpp, 530
Open finger loops: 501 Hand: jaco_robot
[ INFO] [1507775609.969428569]: INFO - EigenGraspPlanner: quickOpen() returned false. The hand may have been completely opened (quickOpen() is a Graspit! hack with no alternative so far, as auto-grasp requires collision-free state) - EigenGraspPlanner.cpp, 504
[ WARN] [1507775609.969451907]: Could not correctly open hand with auto-grasp, the pre-grasp state may not be ideal. - EigenGraspPlanner.cpp, 530
[ INFO] [1507775609.969475377]: Generating result grasp messages... - GraspItServices.cpp, 406
[ INFO] [1507775609.969509999]: Planning done. - GraspItServices.cpp, 419

On the other terminal, it says that 

[ INFO] [1507775609.969608758]: Successfully finished grasp planning. Have 3 resulting grasps. - grasp_planning_eg_planner_client.cpp, 233

So I assume there should be 3 files saved locally. But I don't have any.

Have you had this problem before? Why the result is not saved?

Also, when I am loading the robot, I always got this error:

No normalization data found; using factors of 1.0
Read 1 eigengrasps from EG file
Using eigengrasps from file: eigen/eigen.xml
Loaded virtual contacts from file virtual/contacts.vgr
[ INFO] [1507775570.236099580]: Loaded robot /home/shen/1111/src/graspit-pkgs/jaco_graspit_sample/models/robots/jaco_robot/jaco_robot.xml - GraspItSceneManager.cpp, 579
GCOL: model not found
GCOL: model not found
GCOL: model not found
GCOL: model not found

Is this relavant to the issue I have?

Thank you so much for your tutorial!

JenniferBuehler commented 6 years ago

Hi Shen,

I'm actually currently updating the graspit-pkgs to synchronize with the newest GraspIt release, though it could still take a while because I'm doing it on the side. I will re-test the tutorial then as well, will see if I run into the same issue, but I haven't had this before.

Confirming that you don't have the files in ~/Desktop/111/ (three ones, not four as is used in the last output you posted)? That's apparently the folder you set it to, did you maybe forget a "1"?

I assume you have write permission on the directory? If the directory doesn't exist, create it first - though I think if I remember correctly, the program should create the directory if it doesn't exist.

JenniferBuehler commented 6 years ago

Presuming this has been resolved, I have just updated this package (and depending repositories) and re-tested the tutorials. I didn't have issues with writing the files, so it must have been a permission problem on your system... if you have this problem again, please re-open.