graspit-simulator/graspit

The GraspIt! simulator

graspit's Issues

LCP

Hi.

I had to reinstall linux and now when i try to run simulation I got "LCP COULD NOT BE SOLVED!" and nothing happens. Is there a way to fix it ?

Schunk WSG 50

Hi,

I'd like to use the Schunk WSG 50 hand. I generated a GraspIt model from wsg50-ros-pkg's xacro using urdf2graspit. The model is in my fork here. When I run the openclose plugin with it, nothing happens and I get this error:

Robot joint interpolation error
Interpolation failed!

Any idea what the problem could be? A discussion about the EigenGrasp file is here.

Thank you!
Matt

Make Graspit! load URDFs instead of robot.xml files

The inconsistency with URDFs and robot.xml files is preventing seamless conversion into a Moveit! context.

Potentially use this source for reading a URDF into the world context: https://github.com/JenniferBuehler/graspit-pkgs/tree/master/urdf2graspit

Cannot connect to cgdb database

i have installed graspit, postgresql, downloaded and imported cgdb. When i try to connect to database i get following error:

QSqlDatabase: QPSQL driver not loaded
QSqlDatabase: available drivers: QSQLITE
Database grasps@localhost:5432 could not be opened.
Error: Driver not loaded Driver not loaded
Qt has caught an exception thrown from an event handler. Throwing
exceptions from an event handler is not supported in Qt. You must
reimplement QApplication::notify() and catch all exceptions there.

terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_S_construct null not valid
Aborted

Googled the error, most of solutions are on Windows OS. Don't know how to fix on linux.
Any suggestion....
Thanks

graspit_simulator.exe has stopped working

Error , when I'm run graspit_simulator.exe

I'm build graspit 3.0 and follow http://graspit-simulator.github.io/build/html/index.html
and Run graspit_simulator.exe on machine windows 7 64

what's wrong ?

Thank you so much.

better home for documentation

Thoughts on moving the following to a new location:
http://www.cs.columbia.edu/~cmatei/graspit/
http://www.cs.columbia.edu/~cmatei/graspit/html-manual/graspit-manual.html

There is a lot of content, and no good process for making changes to these beyond directly emailing Matei.

Two possible solutions:

1. A a github page
   Many examples at:
   https://github.com/showcases/github-pages-examples
   A specific example:
   https://github.com/facebook/react
   https://facebook.github.io/react/
   Benefits:

• The source for the page would be kept in its own repo in the graspit-simulator org.
• The site would be under version control, and PR's could be made to update the site.
• Github hosts the webpage for us for free.

or

2. a wiki for this git repo at:
   https://github.com/graspit-simulator/graspit/wiki

Benefits:

• very simple
• may be modified by github org members

Setting dynamics on crashes

When I set dynamics on with rqt or python:

[ INFO] [1492714755.369647012]: Turning Dynamics On
Delta failsafe due to joint
Timestep failsafe reached.

Error: robot mesh model to urdf file!!!!

I used solidworks sw_urdf_exporterhttp://wiki.ros.org/sw_urdf_exporter to translate stl file to urdf files, but it's disorder. I don't know what is wrong?

Dynamics engines not working properly in GraspIt

Hello,
I have downloaded and compiled successfully the simulator. I can load any example and run any tutorial except the one regarding dynamics (worlds/barrettGlassDyn.xml). The scene loads up, but it appears like the hand is already in contact with the table, therefore the Auto-Grasp doesn't do anything. I get the following console output:

Using default inertia matrix
Using default center of gravity
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts
Collision found when looking for contacts

Moreover, if I try to start the dynamics simulation nothing happens in the GUI, and the time counter does not move from 00.00. Nothing moves in the scene. I only get a Timestep failsafe reached. warning as console output. However, pausing the simulation brings up another warning

Coin warning in SbRotation::setValue(): rotateTo argument has zero length.
Coin warning in SbRotation::setValue(): rotateTo argument has zero length.
Delta failsafe due to collision: table and _chain1_link2

Unpausing the simulation doesn't fix things. I compiled the simulator with both the graspit dynamics engine and Bullet, none work (using bullet makes the sim crash, but I think I haven't compiled it corectly). These errors consistently showed up for me on 3 different machines, running Ubuntu 16.04, 14.04 and 18.04.

I wonder if anyone has any clue about what is going on here.

Headless Graspit

@mateiciocarlie
@JenniferBuehler

I wanted to migrate the conversation here about how to best modify GraspIt! to run in a headless mode.

how to translate the 3D model stl to xml and iv?

i use our gripper model in graspit based on ubuntu16.04 not ros. i want to build its model's xml file because i want to import ourselves gripper into graspit. Our hand is similar to the robotiq, thank you!

Make failed with libgraspit.so

Hi, guys,
I try to install Graspit on Ubuntu 16.04.
Following the standard procedure, I've got this error after typing in make -j5

libgraspit.so: undefined reference to 'SoInput::setBuffer(void*, unsigned long)'
collect2: error: ld returned 1 exit status
CMakeFiles/graspit_simulator.dir/build.make: 107: recipe for target 'graspit_simulator' failed
make[2]: *** [graspit_simulator] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/grapit_simulator.dir/all' failed
make[2]: *** [CMakeFiles/graspit_simulator.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

Thanks for any help.

Model list retrieval failed

I do as the cgdb manual,but it shows model list retrieval failed.There are data in the database when viewed with pgamdin III.

appveyor support

@JenniferBuehler

Any idea how difficult it would be to setup something like:
https://github.com/dartsim/dart/blob/master/appveyor.yml

Using your windows instructions? Appveyor is like travis but for Windows.

Unable to import worlds

Hi there,

I followed manual (get started chapter) to import dlr_flask.xml. But nothing shows up in my window. Am I missing something or is the manual out of date?

Thanks

environment: Ubuntu LTS 16.04.01

potentially unneeded files

graspit/include/sensorsWrapper.h
arch.h
arch.cpp
graspit/include/myRegistry.h
graspit/src/matvecIO.cpp

bad_alloc in Robot::setDesiredDOFVals.

This can occur if the desired velocity is zero. This results in an invalid array length allocation:

void
Robot::setDesiredDOFVals(double *dofVals)
{
[...]
    for (d=0;d<numDOF;d++) {
        if (dofVec[d]->getDefaultVelocity() == 0.0) continue;

        dofVec[d]->setDesiredPos(dofVals[d]);
        if (dofVec[d]->getVal() != dofVals[d]) {
            [...]
            timeNeeded = fabs(dofVals[d]-dofVec[d]->getVal()) / fabs( dofVec[d]->getDesiredVelocity() );

            //make this a whole number of timesteps
            numSteps = (int)ceil(timeNeeded/myWorld->getTimeStep());
            [...]
            traj = new double[numSteps];

timeNeeded becomes a float inf, which is then cast to an integer numSteps, which has an invalid value for array allocation.

I've implemented a little check and will submit a pull request shortly.

Cmake failed

Hi
I'm using Ubuntu16.04 to build the graspit, and i have installed the Qt4.7, Coin and SoQt
The package in #70 is also installed.

The error message is as below:

-- soqt_config failed? 0
-- Looking for sgemm_
-- Looking for sgemm_ - found
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- A library with BLAS API found.
-- A library with BLAS API found.
-- Looking for cheev_
-- Looking for cheev_ - found
-- A library with LAPACK API found.
-- Found Eigen3: /usr/include/eigen3 (Required is at least version "2.91.0") 
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found
-- Found Qt4: /usr/local/Trolltech/Qt-4.7.4/bin/qmake (found version "4.7.4") 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tortes/Desktop/graspit/build

---

And the error message in make is as below:

/home/tortes/Desktop/graspit/src/ivmgr.cpp: In member function ‘void IVmgr::transRot(DraggerInfo*)’:
/home/tortes/Desktop/graspit/src/ivmgr.cpp:673:60: error: no match for ‘operator[]’ (operand types are ‘const SbRotation’ and ‘int’)
     desiredRotation.x() = myCenterball->rotation.getValue()[0];
                                                            ^
/home/tortes/Desktop/graspit/src/ivmgr.cpp:674:60: error: no match for ‘operator[]’ (operand types are ‘const SbRotation’ and ‘int’)
     desiredRotation.y() = myCenterball->rotation.getValue()[1];
                                                            ^
/home/tortes/Desktop/graspit/src/ivmgr.cpp:675:60: error: no match for ‘operator[]’ (operand types are ‘const SbRotation’ and ‘int’)
     desiredRotation.z() = myCenterball->rotation.getValue()[2];
                                                            ^
/home/tortes/Desktop/graspit/src/ivmgr.cpp:676:60: error: no match for ‘operator[]’ (operand types are ‘const SbRotation’ and ‘int’)
     desiredRotation.w() = myCenterball->rotation.getValue()[3];

Thanks for any help

CMake failed

Hi there,

I was trying to install graspit! on my virtualbox(Ubuntu16.04.01)

I followed the manual and got following errors.

-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found Qhull: /usr/lib/x86_64-linux-gnu/libqhull.so  
-- QHULL found (include: /usr/include;/usr/include/libqhull, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- Looking for SoQt headers -- found /usr/include/Inventor/Qt/SoQt.h
-- Looking for SoQt library -- found /usr/lib/x86_64-linux-gnu/libSoQt4.so
-- Looking for SoQt library debug -- not found
-- Result of soqt_config: -lSoQt -lQtOpenGL -lQtGui -lQtCore -lXmu -lXi -lCoin -lGL -lXext -lSM -lICE -lX11 -ldl -lpthread

-- soqt_config failed? 0
-- Looking for sgemm_
-- Looking for sgemm_ - found
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- A library with BLAS API found.
-- A library with BLAS API found.
-- Looking for cheev_
-- Looking for cheev_ - not found
CMake Error at /usr/share/cmake-3.5/Modules/FindLAPACK.cmake:342 (message):
  A required library with LAPACK API not found.  Please specify library
  location.
Call Stack (most recent call first):
  CMakeLists.txt:44 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/ubuntu/graspit/build/CMakeFiles/CMakeOutput.log".
See also "/home/ubuntu/graspit/build/CMakeFiles/CMakeError.log".

Am I missing something? Or any help?

Thanks

Robot snaps on simulation

Hello graspit devs,

Please see this issue that I opened on the graspit-pkgs repository. After a short talk with its developer, we concluded that the issue is more suitable to be opened here.

Issue on graspit-pkgs

As it has been stated in the comments of that issue, please keep in mind that I have now added the contact points of the fingers, but the problem still occurs.

Thanks in advance for your time,

George

Crash on callling GWS projection and Quality Measures

System:
Ubuntu 14.04 LTS , 64 bit

On calling GWS projection and Quality Measures feature on dlr_flask world, Crash observed with the following logs from core dump:

Program received signal SIGSEGV, Segmentation fault.
__sigsetjmp () at ../sysdeps/x86_64/setjmp.S:26
26 ../sysdeps/x86_64/setjmp.S: No such file or directory.
(gdb) bt
#0 __sigsetjmp () at ../sysdeps/x86_64/setjmp.S:26
#1 0x00007ffff7982b9f in GWS::buildHyperplanesFromWrenches (this=this@entry=0x1fa6290,

wr=wr@entry=0x1fa1050, numWrenches=numWrenches@entry=48, useDimensions=...)
at /home/nova/Qt_Projects/graspit/src/gws.cpp:470

#2 0x00007ffff7983468 in L1GWS::build (this=0x1fa6290, useDimensions=...)

at /home/nova/Qt_Projects/graspit/src/gws.cpp:637

#3 0x00007ffff7972736 in Grasp::updateWrenchSpaces (this=this@entry=0x1535e30, useDimensions=...)

at /home/nova/Qt_Projects/graspit/src/grasp.cpp:356

#4 0x00007ffff7974be8 in Grasp::update (this=0x1535e30, useDimensions=...)

at /home/nova/Qt_Projects/graspit/src/grasp.cpp:326

#5 0x00007ffff79cfbf7 in World::updateGrasps (this=0x1293080)

at /home/nova/Qt_Projects/graspit/src/world.cpp:1570

#6 0x00007ffff7a87754 in MainWindow::graspQualityMeasures (this=0x818be0)

at /home/nova/Qt_Projects/graspit/ui/mainWindow.cpp:673

#7 0x00007ffff753387a in QMetaObject::activate(QObject_, QMetaObject const_, int, void**) ()

from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#8 0x00007ffff68b2a62 in QAction::triggered(bool) () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#9 0x00007ffff68b4433 in QAction::activate(QAction::ActionEvent) ()

from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#10 0x00007ffff6ce2509 in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#11 0x00007ffff6ce6a39 in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#12 0x00007ffff690851a in QWidget::event(QEvent*) () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#13 0x00007ffff6cea83b in QMenu::event(QEvent*) () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#14 0x00007ffff68b8e2c in QApplicationPrivate::notify_helper(QObject_, QEvent_) ()

from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#15 0x00007ffff68bf5dd in QApplication::notify(QObject_, QEvent_) ()

from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#16 0x00007ffff751f4dd in QCoreApplication::notifyInternal(QObject_, QEvent_) ()

from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#17 0x00007ffff68bed93 in QApplicationPrivate::sendMouseEvent(QWidget_, QMouseEvent_, QWidget_, QWidget_, QWidget**, QPointer&, bool) () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#18 0x00007ffff6933d1c in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#19 0x00007ffff6933289 in QApplication::x11ProcessEvent(_XEvent*) ()

from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#20 0x00007ffff695ab32 in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#21 0x00007ffff3121e04 in g_main_context_dispatch () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#22 0x00007ffff3122048 in ?? () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#23 0x00007ffff31220ec in g_main_context_iteration () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#24 0x00007ffff754c7a1 in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag)

() from /usr/lib/x86_64-linux-gnu/libQtCore.so.4

#25 0x00007ffff695abe6 in ?? () from /usr/lib/x86_64-linux-gnu/libQtGui.so.4
#26 0x00007ffff751e0af in QEventLoop::processEvents(QFlagsQEventLoop::ProcessEventsFlag) ()

from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#27 0x00007ffff751e3a5 in QEventLoop::exec(QFlagsQEventLoop::ProcessEventsFlag) ()

from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#28 0x00007ffff7523b79 in QCoreApplication::exec() () from /usr/lib/x86_64-linux-gnu/libQtCore.so.4
#29 0x00007ffff7979237 in GraspItGUI::startMainLoop (this=this@entry=0x7fffffffdd50)

at /home/nova/Qt_Projects/graspit/src/graspitGUI.cpp:281

#30 0x0000000000401958 in main (argc=1, argv=0x7fffffffde88)

at /home/nova/Qt_Projects/graspit/src/main.cpp:98

Tried to debug the same but no clue how to go about it

Thanks in advance

Filling mesh holes in HumanHand16DOF robot

I have been using an automated planner on a database imported from Shapenet. I was wondering if you know of any way to fill the gaps in the HumanHand robot that appear in some grasps (particularly between the base base of the thumb and its insertion into the palm)?

GraspIt/moveit_simple_grasps

I'm looking at using GraspIt with ROS and I was wondering if there is any method to give a pre-computed grasp and refine it in GraspIt.

I'm looking at the option of pipelining moveit_simple_grasps (or simply enter a manual input) to pre-generate solutions and using GraspIt to refine them and compute quality.

Is there any work around this that I could use?

dynamics example

Hi,
I followed manual to run the dynamics example. However I got hundreds of following errors and the machine is close to freezing.

Coin warning in SbRotation::setValue(): rotateTo argument has zero length.
Coin warning in SbRotation::setValue(): rotateTo argument has zero length.
Coin warning in SbRotation::setValue(): rotateTo argument has zero length.
Coin warning in SbRotation::setValue(): rotateTo argument has zero length.

Btw, I assume (pop state, push state, start simulation) is the 'dynamic tool bar' mentioned in the manual.

Using graspit! for closed chain fingers

Hi, I've been trying to use graspit for the robotiq 2 finger 85 model and I've been running into some issues on trying to get it to move. Below is an image of the gripper I'm working with. When I use the interaction mode mouse to try to move the joints when collision is ON, I receive a stream of "Robot joint interpolation errors". When collision is off, the top left and right joints can move without moving the rest of the gripper (see image below).

The way I have the robot described is two kinematic chains for each gripper finger, and I'm guessing that at the initial position, they are already in collision, and therefore run into the errors above when trying to interact with them. Is there a way that I could set up the robot description file to get this to work for the closed chain setup? Or maybe an alternative way to setup the robot description xml?

Thanks!
I've attached the robot model and robot description files I'm using below, in case that helps in seeing the issue.

robotiq_2f_85.tar.gz

Program aborted when importing robot

Hello, when I'm trying to import my own robot model into graspit, it just crashed and the terminal shows like
`Using default inertia matrix
Using default center of gravity
Setting up 1 degrees of freedom...
Creating 2 kinematic chains (fingers)...
Chain 0: Creating joints
Joint 0
Creating links
Link 0
No triangles found when computing mass properties!
Using default inertia matrix
Using default center of gravity
No vertices found when computing maxRadius!
Warning: degenerate box computed
Warning: degenerate box computed
Warning: degenerate box computed
Creating dynamic joints
Chain 1: Creating joints
Joint 0
Creating links
Link 0
No triangles found when computing mass properties!
Using default inertia matrix
Using default center of gravity
No vertices found when computing maxRadius!
Warning: degenerate box computed
Warning: degenerate box computed
Warning: degenerate box computed
Creating dynamic joints
Using identity eigengrasps
Qt has caught an exception thrown from an event handler. Throwing
exceptions from an event handler is not supported in Qt. You must
reimplement QApplication::notify() and catch all exceptions there.

terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
Aborted (core dumped)
`
I can't figure out where is the problem...could you help me?

non auto starting plugins

all plugins currently auto start (see src/plugin.cpp: line 152). Have there been any thoughts on how we might change this for plugins we don't need to start on Graspit's launch? For example having plugings that aren't configured to auto-launch show up in a new Plugins dropdown list?

exporting more grasp information

Hi,

I'd like to pull out the following items for each grasp, and preferably save them into a txt file (like the way hand position and grasp quality is saved when running a planner), and I was just wondering if you can point me to the right functions to use for each parameter.

• the joint positions of the fingers
• the contact location and wrench in hand frame for each contact

thanks!

Staubli Control

Staubli Control Code does not exist in graspit, can we remove:

jvarley@captiva:~/graspit_org/graspit$ grep -ir Staubli .
./ui/ui_mainWindow.h: QAction *staubliControl;
./ui/ui_mainWindow.h: staubliControl = new QAction(MainWindowUI);
./ui/ui_mainWindow.h: staubliControl->setObjectName(QString::fromUtf8("staubliControl"));
./ui/ui_mainWindow.h: staubliControl->setName("staubliControl");
./ui/ui_mainWindow.h: Misc->addAction(staubliControl);
./ui/ui_mainWindow.h: staubliControl->setIconText(QApplication::translate("MainWindowUI", "Staubli Control Panel...", 0, QApplication::UnicodeUTF8));
./ui/ui_mainWindow.h: staubliControl->setText(QApplication::translate("MainWindowUI", "Staubli Control Panel...", 0, QApplication::UnicodeUTF8));
./ui/mainWindow.cpp:#ifdef STAUBLI_CONTROL_ENABLED
./ui/mainWindow.cpp:#include "staubli/staubliControlDlg.h"
./ui/mainWindow.cpp: QObject::connect(mUI->staubliControl, SIGNAL(triggered()),
./ui/mainWindow.cpp: this, SLOT(misStaubliControlDlg()));
./ui/mainWindow.cpp:void MainWindow::misStaubliControlDlg()
./ui/mainWindow.cpp:#ifdef STAUBLI_CONTROL_ENABLED
./ui/mainWindow.cpp: StaubliControlDlg *dlg = new StaubliControlDlg(mWindow);
./ui/mainWindow.ui:
./ui/mainWindow.ui:
./ui/mainWindow.ui: staubliControl
./ui/mainWindow.ui: Staubli Control Panel...
./ui/mainWindow.ui: Staubli Control Panel...
./ui/mainWindow.h: void misStaubliControlDlg();
Binary file ./.git/index matches
Binary file ./.obj/mainWindow.o matches
Binary file ./.obj/moc_mainWindow.o matches
./graspit-core.pro:#------------------------------------- Staubli Control ----------------
./graspit-core.pro:staubli{
./graspit-core.pro: DEFINES += STAUBLI_CONTROL_ENABLED
./graspit-core.pro: SOURCES += Staubli/staubliControlDlg.cpp
./graspit-core.pro: HEADERS += Staubli/staubliControlDlg.h
./graspit-core.pro: FORMS += Staubli/staubliControlDlg.ui

Qt Application error

Database connected. Cannot get rid of the following exception error:

Using default inertia matrix
Using default center of gravity
Database successfully opened.
Qt has caught an exception thrown from an event handler. Throwing
exceptions from an event handler is not supported in Qt. You must
reimplement QApplication::notify() and catch all exceptions there.

terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_S_construct null not valid
Aborted

Any idea?

jaco_robot model broken

One of the fingers of the jaco_robot appears to be broken.
https://imgur.com/a/dgr3r
Nothing happens after I send an open command over graspit_interface. I have a fresh install of the latest version of graspit. Here's the terminal output when I import the hand:

Creating base...

Setting up 3 degrees of freedom...
Creating 3 kinematic chains (fingers)...
Chain 0:   Creating joints
   Joint 0
  Creating links
   Link 0
  Creating dynamic joints
Chain 1:   Creating joints
   Joint 0
  Creating links
   Link 0
  Creating dynamic joints
Chain 2:   Creating joints
   Joint 0
  Creating links
   Link 0
  Creating dynamic joints
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.xml

EGPlanner running in infinite loop

Hello ,
I am adding some graspable object in graspit world along with my robot.I do have some obstacle over which I am placing this graspable object.Pose for this object is basically fetched through pose estimation running on my machine. I am getting following logs and it goes on infinitily printing it without planning in some cases.

created new L1 Norm GWS.
Neighbor gen loops: 11
Neighbor gen loops: 11
Neighbor gen loops: 11
Neighbor gen loops: 13
Neighbor gen loops: 11
Neighbor gen loops: 16
Neighbor gen loops: 12

Eigen Planner never comes out of this loop.What does this exactly mean?My problem gets resolved if I use space search as COMPLETE instead of Axis angle.My graspit world is cluttered consider a rack consisting of my objects between which my grasp object is placed.

Simulation start errors

Hi there,
When I start simulation in dlr_flask world, I'm getting the error:

Delta failsafe due to joint
Timestep failsafe reached.

And If I try barretGlassDyn, when I load

Collision found when looking for contacts (for couple of times)

And when start simulation:

Delta failsafe due to collision: table and _chain1_link2
Collision found when looking for contacts
Timestep failsafe reached.

If I try to avoid contact by adjusting puma arm before simulation then then I get:

LCP COULD NOT BE SOLVED!
LCP could not be solved.

Which is the same one I get after starting the simulation in plannerMug

And after each error, I can't load any other worlds so I have got to close Graspit
I'm on Ubuntu 14.04, with ros indigo

How can we make not display graspable object coordinates?

I'm planning to collect RGB image of objects, but it display graspable object coordinates.
How can we make this coordinates not display in captured image?
I want to remove this yellow x-y-z coordinates from the image.

Arizona Project

The Arizona project does not exist in graspIt src. Can we remove the related code?

./ui/ui_mainWindow.h: QAction actionArizona_Project;
./ui/ui_mainWindow.h: actionArizona_Project = new QAction(MainWindowUI);
./ui/ui_mainWindow.h: actionArizona_Project->setObjectName(QString::fromUtf8("actionArizona_Project"));
./ui/ui_mainWindow.h: actionArizona_Project->setName("actionArizona_Project");
./ui/ui_mainWindow.h: Misc->addAction(actionArizona_Project);
./ui/ui_mainWindow.h: actionArizona_Project->setIconText(QApplication::translate("MainWindowUI", "Arizona Project...", 0, QApplication::UnicodeUTF8));
./ui/ui_mainWindow.h: actionArizona_Project->setText(QApplication::translate("MainWindowUI", "Arizona Project...", 0, QApplication::UnicodeUTF8));
./ui/mainWindow.cpp:#ifdef ARIZONA_PROJECT_ENABLED
./ui/mainWindow.cpp:#include "arizona/arizonaProjectDlg.h"
./ui/mainWindow.cpp: QObject::connect(mUI->actionArizona_Project, SIGNAL(triggered()),
./ui/mainWindow.cpp: this, SLOT(miscArizonaProjectDlg_activated()));
./ui/mainWindow.cpp:#ifdef ARIZONA_PROJECT_ENABLED
./ui/mainWindow.cpp: mUI->actionArizona_Project->setEnabled(true);
./ui/mainWindow.cpp: mUI->actionArizona_Project->setEnabled(false);
./ui/mainWindow.cpp:void MainWindow::miscArizonaProjectDlg_activated()
./ui/mainWindow.cpp:#ifdef ARIZONA_PROJECT_ENABLED
./ui/mainWindow.cpp: ArizonaProjectDlg *dlg = new ArizonaProjectDlg(mWindow);
./ui/mainWindow.ui:
./ui/mainWindow.ui:
./ui/mainWindow.ui: actionArizona_Project
./ui/mainWindow.ui: Arizona Project...
./ui/mainWindow.ui: Arizona Project...
./ui/mainWindow.h: void miscArizonaProjectDlg_activated();
Binary file ./.git/index matches
./src/contact.cpp:#ifdef ARIZONA_PROJECT_ENABLED
./src/contact.cpp:VirtualContactOnObject::readFromRawData(ArizonaRawExp are, QString file, int index, bool flipNormal)
Binary file ./.obj/mainWindow.o matches
Binary file ./.obj/moc_mainWindow.o matches
./graspit-core.pro:#--------------------------------------- Arizona Project ---------------------------------------------
./graspit-core.pro:arizona{
./graspit-core.pro: SOURCES += src/arizona/Arizona_Process.cpp
./graspit-core.pro: src/arizona/Arizona_Raw_Exp.cpp
./graspit-core.pro: src/arizona/Arizona_Test.cpp
./graspit-core.pro: src/arizona/arizonaProjectDlg.cpp
./graspit-core.pro: HEADERS += src/arizona/Arizona_Process.h
./graspit-core.pro: src/arizona/Arizona_Raw_Exp.h
./graspit-core.pro: src/arizona/Arizona_Test.h
./graspit-core.pro: src/arizona/arizonaProjectDlg.h
./graspit-core.pro: FORMS += src/arizona/arizonaProjectDlg.ui
./graspit-core.pro: DEFINES += ARIZONA_PROJECT_ENABLED
./include/contact.h:#ifdef ARIZONA_PROJECT_ENABLED
./include/contact.h:#include <arizona/Arizona_Raw_Exp.h>
./include/contact.h:#ifdef ARIZONA_PROJECT_ENABLED

Make failed with ivmgr.cpp

I'm using Ubuntu16.04 and following the guide. The error occurs when I finished cmake and began to make. The error message is as below

[ 41%] Building CXX object CMakeFiles/graspit.dir/src/ivmgr.cpp.o
/home/tortes/Desktop/graspit/src/ivmgr.cpp: In member function ‘void IVmgr::transRot(DraggerInfo*)’:
/home/tortes/Desktop/graspit/src/ivmgr.cpp:673:60: error: no match for ‘operator[]’ (operand types are ‘const SbRotation’ and ‘int’)
     desiredRotation.x() = myCenterball->rotation.getValue()[0];
                                                            ^
/home/tortes/Desktop/graspit/src/ivmgr.cpp:674:60: error: no match for ‘operator[]’ (operand types are ‘const SbRotation’ and ‘int’)
     desiredRotation.y() = myCenterball->rotation.getValue()[1];
                                                            ^
/home/tortes/Desktop/graspit/src/ivmgr.cpp:675:60: error: no match for ‘operator[]’ (operand types are ‘const SbRotation’ and ‘int’)
     desiredRotation.z() = myCenterball->rotation.getValue()[2];
                                                            ^
/home/tortes/Desktop/graspit/src/ivmgr.cpp:676:60: error: no match for ‘operator[]’ (operand types are ‘const SbRotation’ and ‘int’)
     desiredRotation.w() = myCenterball->rotation.getValue()[3];
                                                            ^
CMakeFiles/graspit.dir/build.make:1243: recipe for target 'CMakeFiles/graspit.dir/src/ivmgr.cpp.o' failed
make[2]: *** [CMakeFiles/graspit.dir/src/ivmgr.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/graspit.dir/all' failed
make[1]: *** [CMakeFiles/graspit.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

Thanks for any help.

Compiling on Win10 by using vs2010

Hi,
I was trying to compile graspIt! by using vs2010. I followed the method in old manual. I have compiled Qt 4.7.4, Coin3D, SoQt 1.5.0 and CLAPACK succeed with vs2010, but I failed when I try to compile graspIt! I got following error:

1>graspitCore.obj : error LNK2005: "class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > __cdecl cmdline::detail::readable_typename<class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > >(void)" (??$readable_typename@V?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@detail@cmdline@@YA?AV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@XZ) already defined in graspitParser.obj
1>dynamics.obj : error LNK2019: unresolved external symbol "_dgemm_"，referenced in function "_dgemm"
1>gloveInterface.obj : error LNK2001: unresolved external symbol "_dgemm_"
1>lmiOptimizer.obj : error LNK2001: unresolved external symbol "_dgemm_"
1>dynamics.obj : error LNK2019: unresolved external symbol "_dcopy_"，referenced in function "_dcopy"
1>grasp.obj : error LNK2001: unresolved external symbol "_dcopy_"
1>lmiOptimizer.obj : error LNK2001: unresolved external symbol "_dcopy_"
1>maxdet_src.obj : error LNK2001: unresolved external symbol "_dcopy_"
1>dynamics.obj : error LNK2019: unresolved external symbol "_dgemv_"，referenced in function "_dgemv"
1>lmiOptimizer.obj : error LNK2001: unresolved external symbol "_dgemv_"
1>maxdet_src.obj : error LNK2001: unresolved external symbol "_dgemv_"
1>dynamics.obj : error LNK2019: unresolved external symbol "_dscal_"，referenced in function "_dscal"
1>lmiOptimizer.obj : error LNK2001: unresolved external symbol "_dscal_"
1>maxdet_src.obj : error LNK2001: unresolved external symbol "_dscal_"
1>dynamics.obj : error LNK2019: unresolved external symbol "daxpy_"，referenced in function "_daxpy"
1>lmiOptimizer.obj : error LNK2001: unresolved external symbol "_daxpy_"
1>maxdet_src.obj : error LNK2001: unresolved external symbol "_daxpy_"
1>ivmgr.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class QImage __thiscall QGLWidget::grabFrameBuffer(bool)" (__imp_?grabFrameBuffer@QGLWidget@@QAE?AVQImage@@_N@Z), referenced in function "public: void __thiscall IVmgr::saveImage(class QString)" (?saveImage@IVmgr@@QAEXVQString@@@Z)
1>lmiOptimizer.obj : error LNK2019: unresolved external symbol "_ddot_"，referenced in function "_ddot"
1>maxdet_src.obj : error LNK2001: unresolved external symbol "_ddot_"
1>maxdet_src.obj : error LNK2019: unresolved external symbol "_dnrm2_"，referenced in function "_dnrm2"
1>E:\Project\graspIt\graspit-master\build\Debug\graspit.dll : fatal error LNK1120: 8 unresolved externals

Because 'cmdline.h' has error with '#include <cxxabi.h>', so I use this file to replace it https://dl.dropboxusercontent.com/u/56184755/cmdline.h. I'm not sure it is correct.

I'm really don't know the link error about "dgemm", or "dcopy". Is the new source code just compiled with new method?

Thanks!

Model list retrieval failed

I downloaded graspit! But encountered this problem. In addition, there is no graspit.pro file in my downloaded version of graspit. Can someone solve this problem?

pop state

Hey,
not sure if its an issue or it works how it should, but when i start simulation, autoGrasp and then click pop state (no matter if simulations is running or paused) it resets position (i assume) but then the grasp speed increases and gets weird (hand movement is different) until it reaches "Timestep failsafe" and sometimes even hand disjoints and parts fly off or fingers end in weird positions (i guess its searching for no-collision state ?). Is it only me using pop state the wrong way or it should be doing something different ? And if its working correctly, is there a quick way to repeat the same grasp (to try with different material for example) without loading the world again ?

To replicate just try to load barrettGlassDyn.xml (but it happens everywhere, no matter if I make a new world or load one), start simulation, autoGrasp and click pop state few times.

Running ubuntu 16.04, and I am too getting "Coin warnings" like in issue #72 (but no "close to freezing" or anything) if it helps.

APC object models

@lianwenzhao

I saw that you pushed the APC objects to your fork. Any chance you could make a PR with the object models in a subfolder:
models/objects/APC
similar to
models/objects/plated
models/objects/IROS08

-Jake

Error saving image

I apologize is this isn't the proper place to present this (I'm new to github). I have cloned and built Graspit but receive a SIGSEGV segmentation error any time I try to "save image". I also receive the following warning: "Coin warning in glxglue_context_create_software(): Couldn't create GLX context." It could very well be an issue with my setup. If you would be interested in investigating further, I can post the gdb backtrace.

Writing my own planner?

Hello there,
I want to create my own planner with reineforcement learning, for that I want to use the whole joint space that has been reduced by eigengrasps, could you tell me how to access those states?

Bullet Dynamics Can't Start

Since I couldn’t resolve my issue:
https://github.com/graspit-simulator/graspit/issues/103

I wanted to use bullet dynamics since I need gravity. I followed the tutorial http://graspit-simulator.github.io/build/html/dynamics.html. But it seems like it doesn't work, I keep getting the same errors.

Load grasps failed

I do follow the instruction on the usermaul and try to connnect to the database. The connection is successed and I can load the model in to it.However, when I try to load the grasps , the terminal respond that the load grasps failed. What I import is the humanhand and the model in the database.
Thank you for answering my question.

.wld vs .xml world files

Can we remove old wld World files and the associated Reader. It is confusing to have both .xml and .wld. Is there a benefit I am missing?

Have you had a compile version for Windows

I've tried to compile but struck at Cmake for a week and I've run out of time.

If you has a compiled version can I get it, please.

Thank you so much.

simulator crashes while using EigenGraspDlgUI

While using the identity matrix in the EigneGrasp Interface dialogue when i scroll left/right the fingers doesn't move. Secondly, when the first slider is clicked the simulator crashes.
If you re-open the simulator and move to the same dialogue box (EigenGrasp Interface), and slide any slider in the middle except first and last, first click the left/right buttons beside the scroll bars and then click on the scroll bar itself to move, then it will work.

RobotiQ 2Finger Issue

Hi,

I am using Robotiq 2 Finger Gripper for Grasp Planning using Graspit.But whenever i tried to do EigenGrasp Planner the result is not proper My Robot Hand is always in some degree inclination.
I am using simple cube to grasp.
Why is it Happening i am attaching the Model File of My Robot hand as well as some Planning Pictures.

I am using Sim Annaling Grasp Planner and Hand Contacts as a Energy Formulation.This all are in Graspit simulator.

I am also attaching URDF of my robot.
Kindly Help Me on this.


robotiq_arg2f_140_model.zip

example worlds seg fault

If a user loads either barrettGlassDyn world or staubli_barrett world + an object and starts the eigengrasp planner, it segfaults.

Possible easy fix:
remove those world files.

I will look further into cause of segfault.

GraspIt GUI crashes when moving any object or robot

Hello,

I have been experimenting with GraspIt the last couple of days. I am currently trying to create a .xml description for my robot, and I faced this problem. Whenever I try to move an object or robot from the already defined ones, the GUI crashes with this error:

graspit_simulator: SoHandleBoxDragger.cpp:698: void SoHandleBoxDragger::dragStart(): Assertion `found' failed.

To replicate this error, you can just import the sphere object and try to move it.

I am using Ubuntu 16.04, and I am using GraspIt through the graspit_interface for ROS.

Thanks for your help,

George