Comments (10)
liruiw
commented on May 26, 2024
I think this is due to importing PyKDL. Can you double-check your KDL installation?
from omg-planner.
Mr-Xia-6
commented on May 26, 2024
I think this is due to importing PyKDL. Can you double-check your KDL installation?
“pyKDL” is OK, however, there are some problems in "python ycb_renderer.py ycb", when I run it, I will find "Segment error (core dumped)"
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ python -c "import PyKDL"
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ python ycb_renderer.py ycb
Segment error (core dumped)
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ python setup.py develop
running develop
running egg_info
creating CppYCBRenderer.egg-info
writing CppYCBRenderer.egg-info/PKG-INFO
writing dependency_links to CppYCBRenderer.egg-info/dependency_links.txt
writing top-level names to CppYCBRenderer.egg-info/top_level.txt
writing manifest file 'CppYCBRenderer.egg-info/SOURCES.txt'
reading manifest file 'CppYCBRenderer.egg-info/SOURCES.txt'
writing manifest file 'CppYCBRenderer.egg-info/SOURCES.txt'
running build_ext
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- 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
-- Found CUDA: /usr/local/cuda (found version "10.0")
-- Found PythonInterp: /home/yusheng/anaconda3/envs/omg/bin/python (found version "3.6.9")
-- Found PythonLibs: /home/yusheng/anaconda3/envs/omg/lib/libpython3.6m.so
-- Performing Test HAS_CPP14_FLAG
-- Performing Test HAS_CPP14_FLAG - Success
-- pybind11 v2.3.dev0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yusheng/OMG-Planner/ycb_render/build/temp.linux-x86_64-3.6
Scanning dependencies of target test_device
Scanning dependencies of target query_devices
[ 8%] Building C object CMakeFiles/test_device.dir/glad/egl.c.o
[ 16%] Building C object CMakeFiles/query_devices.dir/glad/egl.c.o
[ 33%] Building C object CMakeFiles/query_devices.dir/glad/gl.c.o
[ 33%] Building C object CMakeFiles/test_device.dir/glad/gl.c.o
[ 41%] Building CXX object CMakeFiles/test_device.dir/cpp/test_device.cpp.o
[ 50%] Building CXX object CMakeFiles/query_devices.dir/cpp/query_devices.cpp.o
[ 58%] Linking CXX executable ../query_devices
[ 66%] Linking CXX executable ../test_device
[ 66%] Built target query_devices
[ 66%] Built target test_device
Scanning dependencies of target CppYCBRenderer
[ 75%] Building C object CMakeFiles/CppYCBRenderer.dir/glad/egl.c.o
[ 83%] Building C object CMakeFiles/CppYCBRenderer.dir/glad/gl.c.o
cc1: warning: command line option ‘-std=c++14’ is valid for C++/ObjC++ but not for C
cc1: warning: command line option ‘-std=c++14’ is valid for C++/ObjC++ but not for C
[ 91%] Building CXX object CMakeFiles/CppYCBRenderer.dir/cpp/ycb_renderer.cpp.o
[100%] Linking CXX shared module ../../CppYCBRenderer.cpython-36m-x86_64-linux-gnu.so
[100%] Built target CppYCBRenderer
Creating /home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/CppYCBRenderer.egg-link (link to .)
CppYCBRenderer 0.0.1 is already the active version in easy-install.pth
Installed /home/yusheng/OMG-Planner/ycb_render
Processing dependencies for CppYCBRenderer==0.0.1
Finished processing dependencies for CppYCBRenderer==0.0.1
(omg) yusheng@yusheng:~/OMG-Planner$ python -m omg.core -v -f demo_scene_0
Setting up env...
load from scene: /home/yusheng/OMG-Planner/omg/../data/scenes/demo_scene_0.mat
env init time: 0.295
021_bleach_cleanser IK init time: 0.782, failed_ik: 46, goal set num: 279/100
021_bleach_cleanser IK FOUND collision-free goal num 70/70/70/208
Setting up renderer...
Segment error (core dumped)
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liruiw
commented on May 26, 2024
Can you try checking which exact line is causing the segfault? Can you also try "./build/query_devices" inside ycb_render.
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Mr-Xia-6
commented on May 26, 2024
Can you try checking which exact line is causing the segfault? Can you also try "./build/query_devices" inside ycb_render.
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ python ycb_renderer.py ycb
Traceback (most recent call last):
File "ycb_renderer.py", line 14, in <module>
from pyassimp import *
File "/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/pyassimp/__init__.py", line 1, in <module>
from .core import *
File "/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/pyassimp/core.py", line 34, in <module>
class AssimpLib(object):
File "/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/pyassimp/core.py", line 38, in AssimpLib
load, load_mem, export, release, dll = helper.search_library()
File "/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/pyassimp/helper.py", line 245, in search_library
raise AssimpError("assimp library not found")
pyassimp.errors.AssimpError: assimp library not found
if I run the following code:
sudo apt-get install libassimp-dev
I will find the "segfault" problem.
When I try "./build/query_devices" inside ycb_render
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ ./build/query_devices
2(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$
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liruiw
commented on May 26, 2024
Can you reinstall pyassimp by pip install pyassimp==4.1.3. It might be a pyassimp version problem.
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Mr-Xia-6
commented on May 26, 2024
pip install pyassimp==4.1.3
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ pip install pyassimp==4.1.3
Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple
Requirement already satisfied: pyassimp==4.1.3 in /home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages (4.1.3)
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ python ycb_renderer.py ycb
Traceback (most recent call last):
File "ycb_renderer.py", line 14, in <module>
from pyassimp import *
File "/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/pyassimp/__init__.py", line 1, in <module>
from .core import *
File "/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/pyassimp/core.py", line 34, in <module>
class AssimpLib(object):
File "/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/pyassimp/core.py", line 38, in AssimpLib
load, load_mem, export, release, dll = helper.search_library()
File "/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/pyassimp/helper.py", line 245, in search_library
raise AssimpError("assimp library not found")
pyassimp.errors.AssimpError: assimp library not found
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liruiw
commented on May 26, 2024
Okay, I haven't seen this problem before. It seems to be a problem with the assimp library on your machine. Maybe you could find some other help online.
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Mr-Xia-6
commented on May 26, 2024
Okay, I haven't seen this problem before. It seems to be a problem with the assimp library on your machine. Maybe you could find some other help online.
Thank You, there are somany answers are "sudo apt-get install libassimp-dev", however, I use conda create a virtual environment，I can not use "sudo", I do not know how to solve it.
I find the installation of ycb_render:
In a virtual environment, run python setup.py develop should compile c++ sources and setup paths.
I do not know how to setup paths.
from omg-planner.
Mr-Xia-6
commented on May 26, 2024
Okay, I haven't seen this problem before. It seems to be a problem with the assimp library on your machine. Maybe you could find some other help online.
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ gdb python
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
Copyright (C) 2016 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from python...done.
(gdb) r ycb_renderer.py
Starting program: /home/yusheng/anaconda3/envs/omg/bin/python ycb_renderer.py
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
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Thread 1 "python" received signal SIGSEGV, Segmentation fault.
0x0000000000000000 in ?? ()
(gdb) where
#0 0x0000000000000000 in ?? ()
#1 0x00007fff9692e658 in CppYCBRenderer::init() ()
from /home/yusheng/OMG-Planner/ycb_render/CppYCBRenderer.cpython-36m-x86_64-linux-gnu.so
#2 0x00007fff96939b65 in void pybind11::cpp_function::initialize<pybind11::cpp_function::initialize<int, CppYCBRenderer, , pybind11::name, pybind11::is_method, pybind11::sibling>(int (CppYCBRenderer::*)(), pybind11::name const&, pybind11::is_method const&, pybind11::sibling const&)::{lambda(CppYCBRenderer*)#1}, int, CppYCBRenderer*, pybind11::name, pybind11::is_method, pybind11::sibling>(pybind11::cpp_function::initialize<int, CppYCBRenderer, , pybind11::name, pybind11::is_method, pybind11::sibling>(int (CppYCBRenderer::*)(), pybind11::name const&, pybind11::is_method const&, pybind11::sibling const&)::{lambda(CppYCBRenderer*)#1}&&, int (*)(CppYCBRenderer*), pybind11::name const&, pybind11::is_method const&, pybind11::sibling const&)::{lambda(pybind11::detail::function_call&)#3}::_FUN(pybind11::detail::function_call) ()
from /home/yusheng/OMG-Planner/ycb_render/CppYCBRenderer.cpython-36m-x86_64-linux-gnu.so
#3 0x00007fff9693a7dc in pybind11::cpp_function::dispatcher(_object*, _object*, _object*) ()
from /home/yusheng/OMG-Planner/ycb_render/CppYCBRenderer.cpython-36m-x86_64-linux-gnu.so
#4 0x0000555555665c54 in _PyCFunction_FastCallDict ()
at /tmp/build/80754af9/python_1564510748219/work/Objects/methodobject.c:231
---Type <return> to continue, or q <return> to quit---
#5 0x00005555556edc0e in call_function ()
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:4875
#6 0x000055555571075a in _PyEval_EvalFrameDefault ()
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:3335
#7 0x00005555556e6e66 in _PyEval_EvalCodeWithName ()
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:4166
#8 0x00005555556e8598 in _PyFunction_FastCallDict ()
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:5084
#9 0x000055555566601f in _PyObject_FastCallDict ()
at /tmp/build/80754af9/python_1564510748219/work/Objects/abstract.c:2310
#10 0x000055555566aaa3 in _PyObject_Call_Prepend ()
at /tmp/build/80754af9/python_1564510748219/work/Objects/abstract.c:2373
#11 0x0000555555665a5e in PyObject_Call ()
at /tmp/build/80754af9/python_1564510748219/work/Objects/abstract.c:2261
#12 0x00005555556be9eb in slot_tp_init ()
at /tmp/build/80754af9/python_1564510748219/work/Objects/typeobject.c:6420
#13 0x00005555556eddf7 in type_call ()
at /tmp/build/80754af9/python_1564510748219/work/Objects/typeobject.c:915
#14 0x0000555555665e3b in _PyObject_FastCallDict ()
at /tmp/build/80754af9/python_1564510748219/work/Objects/abstract.c:2331
#15 0x00005555556e818a in _PyObject_FastCallKeywords ()
at /tmp/build/80754af9/python_1564510748219/work/Objects/abstract.c:2496
#16 0x00005555556edc0e in call_function ()
---Type <return> to continue, or q <return> to quit---
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:4875
#17 0x000055555571151c in _PyEval_EvalFrameDefault ()
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:3351
#18 0x00005555556e89b9 in _PyEval_EvalCodeWithName (qualname=0x0, name=0x0,
closure=0x0, kwdefs=0x0, defcount=0, defs=0x0, kwstep=2,
kwcount=<optimized out>, kwargs=0x0, kwnames=0x0, argcount=0, args=0x0,
locals=0x7ffff7f28360, globals=0x7ffff7f28360, _co=0x7ffff69c34b0)
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:4166
#19 PyEval_EvalCodeEx ()
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:4187
#20 0x00005555556e975c in PyEval_EvalCode (co=co@entry=0x7ffff69c34b0,
globals=globals@entry=0x7ffff7f28360, locals=locals@entry=0x7ffff7f28360)
at /tmp/build/80754af9/python_1564510748219/work/Python/ceval.c:731
#21 0x0000555555769744 in run_mod ()
at /tmp/build/80754af9/python_1564510748219/work/Python/pythonrun.c:1025
#22 0x0000555555769b41 in PyRun_FileExFlags ()
at /tmp/build/80754af9/python_1564510748219/work/Python/pythonrun.c:978
#23 0x0000555555769d43 in PyRun_SimpleFileExFlags ()
at /tmp/build/80754af9/python_1564510748219/work/Python/pythonrun.c:419
#24 0x0000555555769e4d in PyRun_AnyFileExFlags ()
at /tmp/build/80754af9/python_1564510748219/work/Python/pythonrun.c:81
#25 0x000055555576d833 in run_file (p_cf=0x7fffffffd9bc,
filename=0x5555558a8300 L"ycb_renderer.py", fp=0x5555558e2b60)
---Type <return> to continue, or q <return> to quit---
at /tmp/build/80754af9/python_1564510748219/work/Modules/main.c:340
#26 Py_Main ()
at /tmp/build/80754af9/python_1564510748219/work/Modules/main.c:811
#27 0x000055555563788e in main ()
at /tmp/build/80754af9/python_1564510748219/work/Programs/python.c:69
#28 0x00007ffff7810840 in __libc_start_main (main=0x5555556377a0 <main>,
argc=2, argv=0x7fffffffdbc8, init=<optimized out>, fini=<optimized out>,
rtld_fini=<optimized out>, stack_end=0x7fffffffdbb8)
at ../csu/libc-start.c:291
#29 0x0000555555717160 in _start () at ../sysdeps/x86_64/elf/start.S:103
from omg-planner.
Mr-Xia-6
commented on May 26, 2024
Okay, I haven't seen this problem before. It seems to be a problem with the assimp library on your machine. Maybe you could find some other help online.
when I run ” ./build/test_device“
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ ./build/test_device
Segmentation fault
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ python -c "import pyassimp"
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ python -c "pyassimp.load("data/robots/link1.DAE")"
Traceback (most recent call last):
File "<string>", line 1, in <module>
NameError: name 'pyassimp' is not defined
(omg) yusheng@yusheng:~/OMG-Planner/ycb_render$ gdb python core
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
Copyright (C) 2016 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from python...done.
BFD: Warning: /home/yusheng/OMG-Planner/ycb_render/core is truncated: expected core file size >= 312717312, found: 10518528.
warning: core file may not match specified executable file.
[New LWP 20286]
Cannot access memory at address 0x7fe3c18ca148
Cannot access memory at address 0x7fe3c18ca140
Failed to read a valid object file image from memory.
Core was generated by `python ycb_renderer.py ycb'.
Program terminated with signal SIGSEGV, Segmentation fault.
#0 0x0000000000000000 in ?? ()
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