Dex-Net on Ubuntu 20.04 + Noetic test fails #64

Greg8978 · 2021-06-12T10:10:41Z

Hi!
I know it's not a tested version for ubuntu, but I'm still commited to make this work on Noetic / ubuntu 20.04

I ran into several issues that I could solve with various documentation / issues already posted.
I finally succeeded, with some fix here and there, to compile without error.
My issue is when I launch the test, I get the following result:

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
creating src/dex_net.egg-info
writing src/dex_net.egg-info/PKG-INFO
writing dependency_links to src/dex_net.egg-info/dependency_links.txt
writing requirements to src/dex_net.egg-info/requires.txt
writing top-level names to src/dex_net.egg-info/top_level.txt
writing manifest file 'src/dex_net.egg-info/SOURCES.txt'
reading manifest file 'src/dex_net.egg-info/SOURCES.txt'
writing manifest file 'src/dex_net.egg-info/SOURCES.txt'
running build_ext
database_test (unittest.loader._FailedTest) ... ERROR
grasping_test (unittest.loader._FailedTest) ... ERROR
learning_test (unittest.loader._FailedTest) ... ERROR

======================================================================
ERROR: database_test (unittest.loader._FailedTest)
----------------------------------------------------------------------
ImportError: Failed to import test module: database_test
Traceback (most recent call last):
  File "/usr/lib/python3.8/unittest/loader.py", line 154, in loadTestsFromName
    module = __import__(module_name)
  File "/home/user_adm/catkin_ws/src/dex-net/test/database_test.py", line 37, in <module>
    from perception import CameraIntrinsics, RenderMode
ImportError: cannot import name 'CameraIntrinsics' from 'perception' (/home/user_adm/catkin_ws/devel/lib/python3/dist-packages/perception/__init__.py)


======================================================================
ERROR: grasping_test (unittest.loader._FailedTest)
----------------------------------------------------------------------
ImportError: Failed to import test module: grasping_test
Traceback (most recent call last):
  File "/usr/lib/python3.8/unittest/loader.py", line 154, in loadTestsFromName
    module = __import__(module_name)
  File "/home/user_adm/catkin_ws/src/dex-net/test/grasping_test.py", line 36, in <module>
    from perception import CameraIntrinsics
ImportError: cannot import name 'CameraIntrinsics' from 'perception' (/home/user_adm/catkin_ws/devel/lib/python3/dist-packages/perception/__init__.py)


======================================================================
ERROR: learning_test (unittest.loader._FailedTest)
----------------------------------------------------------------------
ImportError: Failed to import test module: learning_test
Traceback (most recent call last):
  File "/usr/lib/python3.8/unittest/loader.py", line 154, in loadTestsFromName
    module = __import__(module_name)
  File "/home/user_adm/catkin_ws/src/dex-net/test/learning_test.py", line 38, in <module>
    from dexnet.learning import RandomBinaryObjective, RandomContinuousObjective, UniformAllocationMean, ThompsonSampling, GaussianUniformAllocationMean, MaxIterTerminationCondition
  File "/home/user_adm/catkin_ws/src/dex-net/src/dexnet/__init__.py", line 23, in <module>
    from abstractstatic import abstractstatic
ModuleNotFoundError: No module named 'abstractstatic'


----------------------------------------------------------------------
Ran 3 tests in 0.000s

FAILED (errors=3)
Test failed: <unittest.runner.TextTestResult run=3 errors=3 failures=0>
error: Test failed: <unittest.runner.TextTestResult run=3 errors=3 failures=0>

I installed perception and everything required following this document.

Any help would be greatly appreciated :)

The text was updated successfully, but these errors were encountered:

Greg8978 · 2021-06-17T14:46:40Z

If anyone bump into the same issue, it comes from this [commit]( https://github.com/BerkeleyAutomation/perception/commit/1dd48f392bc3777b2111636180cdac31d620751d):
it removes CameraInstrinsics!

Reverting perception repo fixed it for me.
I had other issues though, mainly compatibility between tensorflow1 and python3.8.
I ended up installing only gqcnn with python 3.7, which may be enough for me.

Jasonleeo-cpu · 2021-07-05T14:35:03Z

Could you help me to solve the problem as follows or tell me some details about it ?
Unable to import meshrender shared library! Rendering will not work. Likely due to missing Boost.Numpy
Boost.Numpy can be installed following the instructions in https://github.com/ndarray/Boost.NumPy
Thanks in advance!!

Greg8978 · 2021-07-05T14:49:30Z

Hey!
Depending on what version you are using, you should try this:
BerkeleyAutomation/meshpy#1

Here is what I did:

#include <boost/python.hpp>
#include "boost/python/extract.hpp"
//#include "boost/python/numeric.hpp"

#if BOOST_VERSION < 106500
#include <boost/python/numeric.hpp>
#else
#include <boost/python/numpy.hpp>
#endif


//#include <boost/numpy.hpp>

...

Then in the code, replace boost::python::numeric by
boost::python::numpy


boost::python::tuple render_mesh(boost::python::list proj_matrices,
                                 unsigned int im_height,
                                 unsigned int im_width,
                                 boost::python::numpy::ndarray verts,
                                 boost::python::numpy::ndarray tris,
                                 boost::python::numpy::ndarray norms,
                                 boost::python::numpy::ndarray mat_props,
                                 boost::python::numpy::ndarray light_props,
				 bool enable_lighting = false,
                                 bool debug = false)

(...)

// append ndarray color image to list
 boost::python::tuple color_shape = boost::python::make_tuple(im_height, im_width, 3);
 boost::python::numpy::dtype color_dt = boost::python::numpy::dtype::get_builtin<unsigned char>();
 boost::python::numpy::ndarray color_arr = boost::python::numpy::from_data(color_result, color_dt, color_shape,
                                                           boost::python::make_tuple(color_shape[1]*color_shape[2]*sizeof(unsigned char),
                                                                                     color_shape[2]*sizeof(unsigned char),
                                                                                     sizeof(unsigned char)),
                                                           boost::python::object());
 color_ims.append(color_arr.copy());

  // append ndarray depth image to list
   boost::python::tuple depth_shape = boost::python::make_tuple(im_height, im_width);
   boost::python::numpy::dtype depth_dt = boost::python::numpy::dtype::get_builtin<float>();
   boost::python::numpy::ndarray depth_arr = boost::python::numpy::from_data(depth_result, depth_dt, depth_shape,
                                                             boost::python::make_tuple(depth_shape[1]*sizeof(float),
                                                                                       sizeof(float)),
                                                             boost::python::object());
   depth_ims.append(depth_arr.copy());
 }

(...)


// Test function for multiplying an array by a scalar
boost::python::list mul_array(boost::python::numpy::ndarray data, int x)
{
  // Access a built-in type (an array)
  boost::python::numpy::ndarray a = data;
  long int bufLen;
  void const *buffer;

(...)

const boost::python::tuple& shape = boost::python::extract<boost::python::tuple>(a.attr("shape"));
std::cout << "Shape " << boost::python::extract<int>(shape[0]) << " " << boost::python::extract<int>(shape[1]) << std::endl;
boost::python::numpy::dtype dt = boost::python::numpy::dtype::get_builtin<double>();
boost::python::numpy::ndarray result = boost::python::numpy::from_data(mult, dt, shape,
                                                       boost::python::make_tuple(shape[0]*sizeof(double),
                                                                                 sizeof(double)),
                                                       boost::python::object());

(...)


// Expose classes and methods to Python
BOOST_PYTHON_MODULE(meshrender) {
  Py_Initialize();
  boost::python::numpy::initialize();

  def("mul_array", &mul_array);
  def("render_mesh", &render_mesh);
}

Ultraopxt · 2021-11-18T07:51:51Z

Hi! I know it's not a tested version for ubuntu, but I'm still commited to make this work on Noetic / ubuntu 20.04

I ran into several issues that I could solve with various documentation / issues already posted. I finally succeeded, with some fix here and there, to compile without error. My issue is when I launch the test, I get the following result:

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
creating src/dex_net.egg-info
writing src/dex_net.egg-info/PKG-INFO
writing dependency_links to src/dex_net.egg-info/dependency_links.txt
writing requirements to src/dex_net.egg-info/requires.txt
writing top-level names to src/dex_net.egg-info/top_level.txt
writing manifest file 'src/dex_net.egg-info/SOURCES.txt'
reading manifest file 'src/dex_net.egg-info/SOURCES.txt'
writing manifest file 'src/dex_net.egg-info/SOURCES.txt'
running build_ext
database_test (unittest.loader._FailedTest) ... ERROR
grasping_test (unittest.loader._FailedTest) ... ERROR
learning_test (unittest.loader._FailedTest) ... ERROR

======================================================================
ERROR: database_test (unittest.loader._FailedTest)
----------------------------------------------------------------------
ImportError: Failed to import test module: database_test
Traceback (most recent call last):
  File "/usr/lib/python3.8/unittest/loader.py", line 154, in loadTestsFromName
    module = __import__(module_name)
  File "/home/user_adm/catkin_ws/src/dex-net/test/database_test.py", line 37, in <module>
    from perception import CameraIntrinsics, RenderMode
ImportError: cannot import name 'CameraIntrinsics' from 'perception' (/home/user_adm/catkin_ws/devel/lib/python3/dist-packages/perception/__init__.py)


======================================================================
ERROR: grasping_test (unittest.loader._FailedTest)
----------------------------------------------------------------------
ImportError: Failed to import test module: grasping_test
Traceback (most recent call last):
  File "/usr/lib/python3.8/unittest/loader.py", line 154, in loadTestsFromName
    module = __import__(module_name)
  File "/home/user_adm/catkin_ws/src/dex-net/test/grasping_test.py", line 36, in <module>
    from perception import CameraIntrinsics
ImportError: cannot import name 'CameraIntrinsics' from 'perception' (/home/user_adm/catkin_ws/devel/lib/python3/dist-packages/perception/__init__.py)


======================================================================
ERROR: learning_test (unittest.loader._FailedTest)
----------------------------------------------------------------------
ImportError: Failed to import test module: learning_test
Traceback (most recent call last):
  File "/usr/lib/python3.8/unittest/loader.py", line 154, in loadTestsFromName
    module = __import__(module_name)
  File "/home/user_adm/catkin_ws/src/dex-net/test/learning_test.py", line 38, in <module>
    from dexnet.learning import RandomBinaryObjective, RandomContinuousObjective, UniformAllocationMean, ThompsonSampling, GaussianUniformAllocationMean, MaxIterTerminationCondition
  File "/home/user_adm/catkin_ws/src/dex-net/src/dexnet/__init__.py", line 23, in <module>
    from abstractstatic import abstractstatic
ModuleNotFoundError: No module named 'abstractstatic'


----------------------------------------------------------------------
Ran 3 tests in 0.000s

FAILED (errors=3)
Test failed: <unittest.runner.TextTestResult run=3 errors=3 failures=0>
error: Test failed: <unittest.runner.TextTestResult run=3 errors=3 failures=0>

I installed perception and everything required following this document.

Any help would be greatly appreciated :)

Hi, Did you run dexnet on ubuntu20.04 succesfully?

GregoireMilliez · 2021-11-18T08:31:31Z

Hi!

We ran only with GQCNN, we gave up on Dex-Net.
Even GQCNN was hard to use as the normalization of data is complex without Dex-Net tools.

However we found this document that may be of interest for you:
https://www.imperial.ac.uk/media/imperial-college/faculty-of-engineering/computing/public/1819-ug-projects/SaporaS-Grasp-Quality-Deep-Neural-Networks-for-Robotic-Object-Grasping.pdf

Cheers

Ultraopxt · 2021-11-18T08:59:27Z

Hi!

We ran only with GQCNN, we gave up on Dex-Net. Even GQCNN was hard to use as the normalization of data is complex without Dex-Net tools.

However we found this document that may be of interest for you: https://www.imperial.ac.uk/media/imperial-college/faculty-of-engineering/computing/public/1819-ug-projects/SaporaS-Grasp-Quality-Deep-Neural-Networks-for-Robotic-Object-Grasping.pdf

Cheers

Thanks very much!

Could you please share the github link of this paper?

GregoireMilliez · 2021-11-18T09:18:33Z

https://github.com/SilviaSapora/dex-net-silvia

elevenjiang1 · 2022-01-01T17:53:48Z

I also have same problem! I think the main problem is the version are too mess in autolab github !

elevenjiang1 · 2022-01-08T15:38:25Z

It seems that in Python3,or in high version in autolab_core,from perception import CameraIntrinsics need to change to from autolab_core import CameraIntrinsics

I have setup dexnet on Ubuntu 16.04 python2, but give up setup python3 in Ubuntu18.04.Also, I have setup gqcnn on Ubuntu16.03 in python3.
All the environment setup is in docker. If you need help, I can give you more detail~

weiyunpei · 2022-04-08T13:06:18Z

It seems that in Python3,or in high version in autolab_core,from perception import CameraIntrinsics need to change to from autolab_core import CameraIntrinsics

I have setup dexnet on Ubuntu 16.04 python2, but give up setup python3 in Ubuntu18.04.Also, I have setup gqcnn on Ubuntu16.03 in python3. All the environment setup is in docker. If you need help, I can give you more detail~

hello,could you please send a github link , I am doing my undergraduate project.THANKS!

elevenjiang1 · 2022-04-08T13:54:00Z

It seems that in Python3,or in high version in autolab_core,from perception import CameraIntrinsics need to change to from autolab_core import CameraIntrinsics
I have setup dexnet on Ubuntu 16.04 python2, but give up setup python3 in Ubuntu18.04.Also, I have setup gqcnn on Ubuntu16.03 in python3. All the environment setup is in docker. If you need help, I can give you more detail~

hello,could you please send a github link , I am doing my undergraduate project.THANKS!

Sorry, I haven't cleaned my code now. If you need more help, maybe you can ask them by email: 1206413225@qq.com

Manu752 · 2024-06-20T20:00:20Z

Hi ,
Were you guys able to get dex-net /GPD eunning on ubuntu 20.4 with ros noetic ? ...I have a project underway and I cant seem to get past the build stage (step 4) of the repo :(

Greg8978 · 2024-06-20T20:25:07Z

Hi, on our side we actually gave up on DexNet, we moved to RGBMatter rgb_matters and suctionNet. It was easier to use.
https://github.com/GouMinghao/rgb_matters

Manu752 · 2024-06-21T09:10:08Z

thank you for the prompt response :) ... does RGBMatter rgb_matters work with move it ? I went threw the repo but couldn't find any doc on how to integrate it with moveit .

Greg8978 · 2024-06-21T09:44:42Z

Yes, we deployed it on Niryo Ned 2, which is using MoveIt.
GraspNet will give you the gripping pose. You will then need to feed it to MoveIt

abhishek47kashyap mentioned this issue May 17, 2024

Fatal Error: "boost/python/numeric.hpp": No such file or directory BerkeleyAutomation/meshpy#7

Open

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Dex-Net on Ubuntu 20.04 + Noetic test fails #64

Dex-Net on Ubuntu 20.04 + Noetic test fails #64

Greg8978 commented Jun 12, 2021

Greg8978 commented Jun 17, 2021 •

edited

Loading

Jasonleeo-cpu commented Jul 5, 2021

Greg8978 commented Jul 5, 2021 •

edited

Loading

Ultraopxt commented Nov 18, 2021

GregoireMilliez commented Nov 18, 2021

Ultraopxt commented Nov 18, 2021

GregoireMilliez commented Nov 18, 2021

elevenjiang1 commented Jan 1, 2022

elevenjiang1 commented Jan 8, 2022

weiyunpei commented Apr 8, 2022

elevenjiang1 commented Apr 8, 2022

Manu752 commented Jun 20, 2024

Greg8978 commented Jun 20, 2024

Manu752 commented Jun 21, 2024

Greg8978 commented Jun 21, 2024

Dex-Net on Ubuntu 20.04 + Noetic test fails #64

Dex-Net on Ubuntu 20.04 + Noetic test fails #64

Comments

Greg8978 commented Jun 12, 2021

Greg8978 commented Jun 17, 2021 • edited Loading

Jasonleeo-cpu commented Jul 5, 2021

Greg8978 commented Jul 5, 2021 • edited Loading

Ultraopxt commented Nov 18, 2021

GregoireMilliez commented Nov 18, 2021

Ultraopxt commented Nov 18, 2021

GregoireMilliez commented Nov 18, 2021

elevenjiang1 commented Jan 1, 2022

elevenjiang1 commented Jan 8, 2022

weiyunpei commented Apr 8, 2022

elevenjiang1 commented Apr 8, 2022

Manu752 commented Jun 20, 2024

Greg8978 commented Jun 20, 2024

Manu752 commented Jun 21, 2024

Greg8978 commented Jun 21, 2024

Greg8978 commented Jun 17, 2021 •

edited

Loading

Greg8978 commented Jul 5, 2021 •

edited

Loading