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ihmcrobotics / valkyrie

IHMC Controller and simulation environment for the NASA Valkyrie humanoid robot
Apache License 2.0
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SCS2 visualization errors #3

Closed MishaSavchenko closed 10 months ago

MishaSavchenko commented 10 months ago

Looks like there are still some missing dependencies that prevent the SCS gui from doing visualization ( screenshot at the bottom for reference)

msavchen@js-er-mizu:~/Downloads$ ValkyrieObstacleCourseSCS2
Jan 10, 2024 10:50:27 AM com.sun.javafx.application.PlatformImpl startup
WARNING: Unsupported JavaFX configuration: classes were loaded from 'unnamed module @5a6d67c3'
Gtk-Message: 10:50:28.083: Failed to load module "canberra-gtk-module"
240110 10:51:08:754 [INFO] (NetworkParameters.java:41): Looking for network parameters in network parameters file at /home/msavchen/.ihmc/IHMCNetworkParameters.ini
240110 10:51:08:755 [WARN] (NetworkParameters.java:69): Network parameter file /home/msavchen/.ihmc/IHMCNetworkParameters.ini does not exist.
240110 10:51:08:755 [INFO] (NetworkParameters.java:72): Looking for network parameters in environment variables
240110 10:51:08:755 [INFO] (NetworkParameters.java:73): Environment variables will override entries in the network parameters file.
240110 10:51:08:757 [ERROR] (RTPSCommunicationFactory.java:57): Tried to load the RTPS Domain ID from /home/msavchen/.ihmc/IHMCNetworkParameters.ini, but either the key didn't exist or after parsing the string it returned a negative number.
It should look like RTPSDomainID=15, if your registered domain ID is 15.
Setting the Default RTPS Domain ID randomly to 210, to avoid interfering with others.
240110 10:51:09:788 [WARN] (Robot.java:157): Unsupported sensor: LidarSensorDefinition - head_hokuyo_sensor
IMUBasedPelvisRotationalStateUpdater: More than 1 IMU sensor, using only the first one: pelvisRearImu
PelvisIMUBasedLinearStateCalculator: More than 1 IMU sensor, using only the first one: pelvisRearImu
240110 10:51:10:202 [WARN] (Skully.java:103): Skully says he discovered something mysterious:
   'I think something is off in your parameter file.'
     ,----._
    )\___/  \
   /__, ,__,(|
   |.d/ \b. _/
    \/''  \||
     '+++'//
     `-.-'
   Parameters in registry: 54
   Parameters using their default value: 19
   Parameters in XML with no match: 15
240110 10:51:10:269 [WARN] (JointSettingsHelper.java:129): In State DoNothingBehavior
Got joints without acceleration integration parameters.
Will use default values for: [leftHipYaw, leftHipRoll, leftHipPitch, leftKneePitch, leftAnklePitch, leftAnkleRoll, rightHipYaw, rightHipRoll, rightHipPitch, rightKneePitch, rightAnklePitch, rightAnkleRoll, torsoYaw, torsoPitch, torsoRoll, leftShoulderPitch, leftShoulderRoll, leftShoulderYaw, leftElbowPitch, leftForearmYaw, leftWristRoll, leftWristPitch, lowerNeckPitch, neckYaw, upperNeckPitch, rightShoulderPitch, rightShoulderRoll, rightShoulderYaw, rightElbowPitch, rightForearmYaw, rightWristRoll, rightWristPitch]
240110 10:51:10:316 [INFO] (RigidBodyControlManager.java:157): Creating manager for leftFoot with pose controller.
240110 10:51:10:327 [INFO] (RigidBodyControlManager.java:157): Creating manager for rightFoot with pose controller.
240110 10:51:10:398 [INFO] (RigidBodyControlManager.java:114): Creating manager for torso with orientation controller.
240110 10:51:10:400 [INFO] (RigidBodyControlManager.java:114): Creating manager for upperNeckPitchLink with orientation controller.
240110 10:51:10:404 [INFO] (RigidBodyControlManager.java:157): Creating manager for leftPalm with pose controller.
240110 10:51:10:406 [INFO] (RigidBodyControlManager.java:157): Creating manager for rightPalm with pose controller.
240110 10:51:10:431 [WARN] (WorkspacePathTools.java:99): ihmc-open-robotics-software directory could not be found. Working directory: /home/msavchen/Downloads Search stopped at: /home/msavchen/Downloads
240110 10:51:10:620 [WARN] (Skully.java:103): Skully says he discovered something mysterious:
   'I think something is off in your parameter file.'
     ,----._
    )\___/  \
   /__, ,__,(|
   |.d/ \b. _/
    \/''  \||
     '+++'//
     `-.-'
   Parameters in registry: 1115
   Parameters using their default value: 547
   Parameters in XML with no match: 87
240110 10:51:11:096 [INFO] (SCS2AvatarSimulationFactory.java:687): Initializing estimator to actual
SLF4J: Class path contains multiple SLF4J bindings.
SLF4J: Found binding in [jar:file:/opt/valkyrie-simulation-0.14.0-231219-1/lib/log4j-slf4j-impl-2.17.0.jar!/org/slf4j/impl/StaticLoggerBinder.class]
SLF4J: Found binding in [jar:file:/opt/valkyrie-simulation-0.14.0-231219-1/lib/slf4j-simple-1.6.1.jar!/org/slf4j/impl/StaticLoggerBinder.class]
SLF4J: See http://www.slf4j.org/codes.html#multiple_bindings for an explanation.
SLF4J: Actual binding is of type [org.apache.logging.slf4j.Log4jLoggerFactory]
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.SubScene <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.SubScene <init>
WARNING: System can't support antiAliasing
Jan 10, 2024 10:51:11 AM javafx.scene.PerspectiveCamera <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.SubScene$3 invalidated
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.paint.Material <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.shape.Shape3D <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.paint.Material <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.fxml.FXMLLoader$ValueElement processValue
WARNING: Loading FXML document with JavaFX API of version 20.0.1 by JavaFX runtime of version 17.0.2-ea
Jan 10, 2024 10:51:11 AM javafx.fxml.FXMLLoader$ValueElement processValue
WARNING: Loading FXML document with JavaFX API of version 20.0.1 by JavaFX runtime of version 17.0.2-ea
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.LightBase <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.paint.Material <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.shape.Shape3D <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.paint.Material <init>
WARNING: System can't support ConditionalFeature.SCENE3D
Jan 10, 2024 10:51:11 AM javafx.scene.shape.Mesh <init>
WARNING: System can't support ConditionalFeature.SCENE3D

image

SylvainBertrand commented 10 months ago

I've seen that issue in the past when using the headless JDK (for server). Can you check that you get the following when running the command java -version

image

MishaSavchenko commented 10 months ago

My output: 

openjdk version "17.0.9" 2023-10-17
OpenJDK Runtime Environment (build 17.0.9+9-Ubuntu-122.04)
OpenJDK 64-Bit Server VM (build 17.0.9+9-Ubuntu-122.04, mixed mode, sharing)
SylvainBertrand commented 10 months ago

Here is a new launch file that adds a couple flags which hopefully should be helpful: ValkyrieObstacleCourseSCS2.zip

Can you extract it and copy it into /opt/valkyrie-simulation-0.14.0-231219-1/bin/. Then re-run and show me the console output. There is a small chance that it may run fine with this one too.

MishaSavchenko commented 10 months ago

This works. Able to visualize and get data from the robot!