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ethz-asl / vgn

Real-time 6 DOF grasp detection in clutter.
BSD 3-Clause "New" or "Revised" License
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Process sim_grasp.py terminates after loading all the scene #24

Open MarioCavero opened 2 years ago

MarioCavero commented 2 years ago

I am have been trying to fix this issue where I run sim_grasp.py: python3 scripts/sim_grasp.py --model data/runs/22-08-10-08-09_dataset\=foo\,augment\=False\,net\=conv\,batch_size\=32\,lr\=3e-04/vgn_conv_7.pt --sim-gui --rviz

Before, I run roscorein another console. All the previous instructions for the rest of the parts have been made. Also trained a model.

With the following output:

pybullet build time: May 28 2020 16:37:34
startThreads creating 1 threads.
starting thread 0
started thread 0 
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=Mesa/X.org
GL_RENDERER=llvmpipe (LLVM 12.0.0, 256 bits)
GL_VERSION=4.5 (Core Profile) Mesa 21.2.6
GL_SHADING_LANGUAGE_VERSION=4.50
pthread_getconcurrency()=0
Version = 4.5 (Core Profile) Mesa 21.2.6
Vendor = Mesa/X.org
Renderer = llvmpipe (LLVM 12.0.0, 256 bits)
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started
ven = Mesa/X.org
ven = Mesa/X.org
100%|█████████████████████████████████████████| 100/100 [15:39<00:00,  9.39s/it]
numActiveThreads = 0
stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed

I have been trying to see if there was anything wrong with my ros installation. My system is Ubuntu 20.04 (Ubuntu 20.04.5 LTS). I am trying the simulation in VirtualBox, having done the previous parts on a real Ubuntu machine. Might it be something related to the VM?

aniketghodake10 commented 2 years ago

I am have been trying to fix this issue where I run sim_grasp.py: python3 scripts/sim_grasp.py --model data/runs/22-08-10-08-09_dataset\=foo\,augment\=False\,net\=conv\,batch_size\=32\,lr\=3e-04/vgn_conv_7.pt --sim-gui --rviz

Before, I run roscorein another console. All the previous instructions for the rest of the parts have been made. Also trained a model.

With the following output:

pybullet build time: May 28 2020 16:37:34
startThreads creating 1 threads.
starting thread 0
started thread 0 
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=Mesa/X.org
GL_RENDERER=llvmpipe (LLVM 12.0.0, 256 bits)
GL_VERSION=4.5 (Core Profile) Mesa 21.2.6
GL_SHADING_LANGUAGE_VERSION=4.50
pthread_getconcurrency()=0
Version = 4.5 (Core Profile) Mesa 21.2.6
Vendor = Mesa/X.org
Renderer = llvmpipe (LLVM 12.0.0, 256 bits)
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started
ven = Mesa/X.org
ven = Mesa/X.org
100%|█████████████████████████████████████████| 100/100 [15:39<00:00,  9.39s/it]
numActiveThreads = 0
stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed

I have been trying to see if there was anything wrong with my ros installation. My system is Ubuntu 20.04 (Ubuntu 20.04.5 LTS). I am trying the simulation in VirtualBox, having done the previous parts on a real Ubuntu machine. Might it be something related to the VM?

Where is the error ? It is completed 100 % successfully

MarioCavero commented 2 years ago

I have followed all the steps, data generation and training. What appears as the simulation is I think the default, a box with objects dropping on it, on each "epoch" until 100%. No grasping nor my objects spawning. - 30 Sept 2022

EDIT 25 January 2023: Any insight on this @aniketghodake10

Andyyoung0507 commented 2 months ago

Hi, I also try to synthetic grasping trials in pile scene by using python scripts/generate_data_parallel.py --scene pile --object-set pile/train --num-grasps 400 --num-proc 2 --save-scene ./data/pile/data_pile_train_random_raw_4M, but the terminal show nothing but "pybullet build time: May 28 2020 16:37:34", the file in the data generation is nothing. I want to ask , is there a problem? How to locate the bug and debug? @MarioCavero @aniketghodake10 Thanks!

MarioCavero commented 2 months ago

It's been 2 years almost so I cannot really say anything right now. I will re-check this repository in the following weeks so hopefully I'll be able to help out @Andyyoung0507

Andyyoung0507 commented 2 months ago

Thanks for your help!