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Hi, I am currently trying to get a demo working, using Elfin 5 robot arm, with schunk gripper.
When I try to start the demo, it goes through the motions of generating the grasp data, but gives this in the end
roslaunch moveit_task_constructor_gpd gpd_demo.launch ... logging to /home/gurnarok/.ros/log/58d9f2f4-74f7-11eb-81f2-509a4c51286d/roslaunch-Phobos-22184.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://Phobos:35023/ SUMMARY ======== PARAMETERS * /grasp_cloud_detection/action_name: generate_grasps * /grasp_cloud_detection/frame_id: world * /grasp_cloud_detection/load_cloud: True * /grasp_cloud_detection/path_to_gpd_config: /home/gurnarok/ro... * /grasp_cloud_detection/path_to_pcd_file: /home/gurnarok/ro... * /grasp_cloud_detection/trans_base_cam: [0.0, -0.25, 0.04... * /grasp_cloud_detection/trans_cam_opt: [0.0, 0.0, 0.0, 0... * /grasp_cloud_detection/view_point: [0.0, 0.0, 0.0] * /mtc_tutorial/action_name: generate_grasps * /mtc_tutorial/approach_object_max_dist: 0.15 * /mtc_tutorial/approach_object_min_dist: 0.01 * /mtc_tutorial/arm_group_name: elfin_arm * /mtc_tutorial/arm_home_pose: grab_picture * /mtc_tutorial/camera_mesh_file: package://deep_gr... * /mtc_tutorial/camera_name: camera * /mtc_tutorial/camera_pose: [0.5, 0, 0.7, 0, ... * /mtc_tutorial/camera_reference_frame: world * /mtc_tutorial/eef_name: schunk_gripper * /mtc_tutorial/execute: True * /mtc_tutorial/grasp_frame_transform: [0.1, 0.0, 0.16, ... * /mtc_tutorial/hand_close_pose: closed_gripper * /mtc_tutorial/hand_frame: elfin_end_link * /mtc_tutorial/hand_group_name: schunk_gripper * /mtc_tutorial/hand_open_pose: open_gripper * /mtc_tutorial/lift_object_max_dist: 0.1 * /mtc_tutorial/lift_object_min_dist: 0.01 * /mtc_tutorial/max_solutions: 10 * /mtc_tutorial/object_dimensions: [0.25, 0.01] * /mtc_tutorial/object_name: object * /mtc_tutorial/object_pose: [0.5, -0.25, 0.0,... * /mtc_tutorial/object_reference_frame: world * /mtc_tutorial/place_pose: [0.6, -0.15, 0, 0... * /mtc_tutorial/place_surface_offset: 0.0001 * /mtc_tutorial/spawn_camera: False * /mtc_tutorial/spawn_mesh: False * /mtc_tutorial/spawn_table: True * /mtc_tutorial/surface_link: table * /mtc_tutorial/table_dimensions: [0.4, 0.5, 0.1] * /mtc_tutorial/table_name: table * /mtc_tutorial/table_pose: [0.5, -0.25, 0, 0... * /mtc_tutorial/table_reference_frame: world * /mtc_tutorial/world_frame: world * /rosdistro: melodic * /rosversion: 1.14.10 NODES / grasp_cloud_detection (moveit_task_constructor_gpd/grasp_cloud_detection) mtc_tutorial (deep_grasp_task/deep_grasp_demo) ROS_MASTER_URI=http://localhost:11311 process[mtc_tutorial-1]: started with pid [22213] process[grasp_cloud_detection-2]: started with pid [22215] [ INFO] [1613989694.584452411]: Init deep_grasp_demo [ INFO] [1613989694.698505893]: Starting grasp_cloud_detection [ INFO] [1613989694.709096704]: Loading grasp action server parameters extension: pcd Loaded point cloud with 11570 points ============ HAND GEOMETRY ====================== finger_width: 0.01 hand_outer_diameter: 0.12 hand_depth: 0.06 hand_height: 0.02 init_bite: 0.01 ================================================= ============ PLOTTING ======================== plot_normals: false plot_samples false plot_candidates: false plot_filtered_candidates: false plot_valid_grasps: false plot_clustered_grasps: false plot_selected_grasps: false ============================================== ============ CLOUD PREPROCESSING ============= voxelize: true voxel_size: 0.003 remove_outliers: false workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 sample_above_plane: false normals_radius: 0.030 refine_normals_k: 0 ============================================== ============ CANDIDATE GENERATION ============ num_samples: 50 num_threads: 4 nn_radius: 0.01 hand axes: 2 num_orientations: 8 num_finger_placements: 10 deepen_hand: true friction_coeff: 20.00 min_viable: 6 ============================================== ============ GRASP IMAGE GEOMETRY =============== volume width: 0.1 volume depth: 0.06 volume height: 0.02 image_size: 60 image_num_channels: 15 ================================================= NET SETUP runtime: 0.127566 ============ CLASSIFIER ====================== model_file: weights_file: /home/gurnarok/ros/elfin_ws/src/deep_graps_data/gpd/models/lenet/15channels/params/ batch_size: 1 ============================================== ============ CANDIDATE FILTERING ============= candidate_workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 min_aperture: 0.0000 max_aperture: 0.8500 ============================================== ============ CLUSTERING ====================== min_inliers: 1 ============================================== [ INFO] [1613989695.908669583, 513.974000000]: Loading task parameters [ INFO] [1613989695.915808056, 513.981000000]: Initializing task pipeline [ INFO] [1613989695.921427137, 513.987000000]: Loading robot model 'samk_schunk'... [ INFO] [1613989695.921460541, 513.987000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ WARN] [1613989696.167087345, 514.231000000]: IK plugin for group 'elfin_arm' relies on deprecated API. Please implement initialize(RobotModel, ...). [ INFO] [1613989696.184782469, 514.248000000]: Waiting for connection to grasp generation action server... [ INFO] [1613989696.396441958, 514.460000000]: Connected to server [ INFO] [1613989696.396569623, 514.460000000]: Start searching for task solutions [ INFO] [1613989696.417564204, 514.481000000]: Initializing OMPL interface using ROS parameters [ INFO] [1613989696.439053448, 514.502000000]: Using planning interface 'OMPL' [ INFO] [1613989696.442164573, 514.505000000]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1613989696.442601963, 514.506000000]: Param 'start_state_max_bounds_error' was not set. Using default value: 0.05 [ INFO] [1613989696.442827283, 514.506000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1613989696.443092781, 514.506000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1613989696.443421290, 514.507000000]: Param 'jiggle_fraction' was not set. Using default value: 0.02 [ INFO] [1613989696.443698830, 514.507000000]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1613989696.443744406, 514.507000000]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1613989696.443759929, 514.507000000]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1613989696.443776344, 514.507000000]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1613989696.443793044, 514.507000000]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1613989696.443809312, 514.507000000]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1613989697.160658139, 515.215000000]: Planner configuration 'schunk_gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ INFO] [1613989697.160968005, 515.215000000]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1613989697.171452366, 515.225000000]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1613989697.171496738, 515.225000000]: Solution found in 0.010594 seconds [ INFO] [1613989697.172704912, 515.227000000]: SimpleSetup: Path simplification took 0.001119 seconds and changed from 4 to 2 states [ INFO] [1613989697.172927733, 515.227000000]: Goal sent to server: generate_grasps [ INFO] [1613989697.173017799, 515.227000000]: New goal accepted: generate_grasps Processing cloud with 11570 points. [ INFO] [1613989697.173059815, 515.227000000]: Generate grasp goal now active Voxelized cloud: 3998 Calculating surface normals ... num_threads: 4 runtime(computeNormals): 0.0754 camera: 0, #indices: 3998, #normals: 3998 Calculated 3998 surface normals in 0.0786s (mode: OpenMP). Reversing direction of normals that do not point to at least one camera ... reversed 0 normals runtime (reverse normals): 0.0130079 Estimating local reference frames ... Estimated 50 frames in 0.0074s. Finding hand poses ... Found 50 hand sets in 6.54s ====> HAND SEARCH TIME: 6.54338 Generated 50 hand sets. Filtering grasps outside of workspace ... Number of grasp candidates within workspace and gripper width: 400 Number of grasp candidates with correct approach direction: 400 neighborhoods search time: 0.0857 Created 400 images in 14.5774s Selecting the 100 highest scoring grasps ... grasp #0, score: 1342.3416 grasp #1, score: 1313.3417 grasp #2, score: 1286.0966 grasp #3, score: 1251.4309 grasp #4, score: 1235.2803 grasp #5, score: 1227.5620 grasp #6, score: 1194.9106 grasp #7, score: 1170.2570 grasp #8, score: 1149.0598 grasp #9, score: 1143.4897 grasp #10, score: 1136.8074 grasp #11, score: 1125.7454 grasp #12, score: 1124.6219 grasp #13, score: 1124.4762 grasp #14, score: 1122.1636 grasp #15, score: 1111.3950 grasp #16, score: 1108.0422 grasp #17, score: 1102.3003 grasp #18, score: 1101.0830 grasp #19, score: 1087.6951 grasp #20, score: 1080.0173 grasp #21, score: 1076.2720 grasp #22, score: 1072.8706 grasp #23, score: 1069.9060 grasp #24, score: 1059.0283 grasp #25, score: 1048.1443 grasp #26, score: 1045.6389 grasp #27, score: 1042.0859 grasp #28, score: 1038.0491 grasp #29, score: 1033.8835 grasp #30, score: 1031.3025 grasp #31, score: 1028.0469 grasp #32, score: 1021.7517 grasp #33, score: 1021.6817 grasp #34, score: 1014.9775 grasp #35, score: 1014.5544 grasp #36, score: 1001.4622 grasp #37, score: 1000.5222 grasp #38, score: 984.3713 grasp #39, score: 984.3048 grasp #40, score: 980.1732 grasp #41, score: 979.4586 grasp #42, score: 978.1815 grasp #43, score: 975.5223 grasp #44, score: 973.6229 grasp #45, score: 969.8428 grasp #46, score: 967.5494 grasp #47, score: 966.2043 grasp #48, score: 966.0681 grasp #49, score: 961.3572 grasp #50, score: 951.8958 grasp #51, score: 949.2314 grasp #52, score: 936.2978 grasp #53, score: 932.8766 grasp #54, score: 932.7523 grasp #55, score: 929.1198 grasp #56, score: 928.0275 grasp #57, score: 926.7357 grasp #58, score: 925.8193 grasp #59, score: 925.6099 grasp #60, score: 923.1766 grasp #61, score: 920.3751 grasp #62, score: 918.4742 grasp #63, score: 917.1666 grasp #64, score: 914.5510 grasp #65, score: 912.0790 grasp #66, score: 910.4354 grasp #67, score: 910.3622 grasp #68, score: 910.0328 grasp #69, score: 908.4257 grasp #70, score: 905.9755 grasp #71, score: 898.2123 grasp #72, score: 892.4194 grasp #73, score: 887.8302 grasp #74, score: 887.1883 grasp #75, score: 871.8124 grasp #76, score: 866.4572 grasp #77, score: 866.2410 grasp #78, score: 864.7794 grasp #79, score: 864.1263 grasp #80, score: 847.8315 grasp #81, score: 840.8709 grasp #82, score: 840.3623 grasp #83, score: 838.9421 grasp #84, score: 835.0414 grasp #85, score: 811.4476 grasp #86, score: 808.6755 grasp #87, score: 808.5413 grasp #88, score: 790.6054 grasp #89, score: 771.3461 grasp #90, score: 762.9165 grasp #91, score: 759.6810 grasp #92, score: 745.6823 grasp #93, score: 745.0148 grasp #94, score: 710.3637 grasp #95, score: 693.2603 grasp #96, score: 686.4240 grasp #97, score: 682.8793 grasp #98, score: 664.1002 grasp #99, score: 659.6472 grasp 0, inliers: 22, ||position_delta||: 0.0027, mean: 918.9381, STD: 113.4739, conf_int: (856.6177, 981.2585) grasp 1, inliers: 9, ||position_delta||: 0.0206, mean: 904.6191, STD: 136.6500, conf_int: (787.2822, 1021.9559) grasp 2, inliers: 18, ||position_delta||: 0.0046, mean: 986.3222, STD: 110.7024, conf_int: (919.1071, 1053.5372) grasp 3, inliers: 16, ||position_delta||: 0.0011, mean: 999.9957, STD: 111.1578, conf_int: (928.4100, 1071.5813) grasp 4, inliers: 12, ||position_delta||: 0.0019, mean: 1041.7755, STD: 114.2810, conf_int: (956.7930, 1126.7579) grasp 5, inliers: 16, ||position_delta||: 0.0164, mean: 945.1289, STD: 120.7630, conf_int: (867.3575, 1022.9003) grasp 7, inliers: 18, ||position_delta||: 0.0106, mean: 1007.8524, STD: 124.5199, conf_int: (932.2478, 1083.4570) grasp 8, inliers: 22, ||position_delta||: 0.0048, mean: 1001.5733, STD: 119.9698, conf_int: (935.6853, 1067.4613) grasp 9, inliers: 16, ||position_delta||: 0.0172, mean: 946.8743, STD: 164.7799, conf_int: (840.7560, 1052.9925) grasp 10, inliers: 24, ||position_delta||: 0.0018, mean: 991.7140, STD: 151.8866, conf_int: (911.8484, 1071.5796) grasp 11, inliers: 4, ||position_delta||: 0.0220, mean: 934.5538, STD: 135.1736, conf_int: (760.4502, 1108.6574) grasp 12, inliers: 12, ||position_delta||: 0.0025, mean: 1050.9970, STD: 124.5933, conf_int: (958.3460, 1143.6480) grasp 13, inliers: 5, ||position_delta||: 0.0052, mean: 951.3865, STD: 68.5834, conf_int: (872.3768, 1030.3961) grasp 14, inliers: 6, ||position_delta||: 0.0072, mean: 1071.0378, STD: 110.9945, conf_int: (954.3108, 1187.7649) grasp 15, inliers: 3, ||position_delta||: 0.0081, mean: 1025.4278, STD: 89.7082, conf_int: (892.0089, 1158.8467) grasp 16, inliers: 25, ||position_delta||: 0.0045, mean: 1010.6128, STD: 128.7119, conf_int: (944.3004, 1076.9252) grasp 17, inliers: 20, ||position_delta||: 0.0069, mean: 1014.5255, STD: 122.5560, conf_int: (943.9319, 1085.1191) grasp 18, inliers: 8, ||position_delta||: 0.0046, mean: 1050.0173, STD: 140.3619, conf_int: (922.1822, 1177.8523) grasp 19, inliers: 23, ||position_delta||: 0.0039, mean: 1011.5463, STD: 102.1846, conf_int: (956.6596, 1066.4330) grasp 20, inliers: 17, ||position_delta||: 0.0028, mean: 1006.9410, STD: 127.6752, conf_int: (927.1732, 1086.7089) grasp 21, inliers: 22, ||position_delta||: 0.0060, mean: 943.7878, STD: 100.3343, conf_int: (888.6837, 998.8919) grasp 22, inliers: 20, ||position_delta||: 0.0038, mean: 960.5492, STD: 154.6501, conf_int: (871.4690, 1049.6293) grasp 23, inliers: 8, ||position_delta||: 0.0288, mean: 929.6413, STD: 128.8285, conf_int: (812.3103, 1046.9723) grasp 24, inliers: 18, ||position_delta||: 0.0176, mean: 962.4827, STD: 151.5434, conf_int: (870.4702, 1054.4951) grasp 25, inliers: 6, ||position_delta||: 0.0088, mean: 1008.9194, STD: 99.7028, conf_int: (904.0671, 1113.7716) grasp 26, inliers: 26, ||position_delta||: 0.0027, mean: 960.8318, STD: 150.3603, conf_int: (884.8705, 1036.7931) grasp 27, inliers: 24, ||position_delta||: 0.0031, mean: 970.3526, STD: 140.4250, conf_int: (896.5138, 1044.1914) grasp 28, inliers: 7, ||position_delta||: 0.0292, mean: 846.9954, STD: 92.4800, conf_int: (756.9535, 937.0373) grasp 29, inliers: 18, ||position_delta||: 0.0180, mean: 947.6483, STD: 134.8247, conf_int: (865.7869, 1029.5096) grasp 30, inliers: 18, ||position_delta||: 0.0089, mean: 983.3480, STD: 136.7929, conf_int: (900.2916, 1066.4044) grasp 31, inliers: 26, ||position_delta||: 0.0014, mean: 966.3056, STD: 135.0182, conf_int: (898.0951, 1034.5162) grasp 32, inliers: 21, ||position_delta||: 0.0047, mean: 913.9489, STD: 139.7277, conf_int: (835.4038, 992.4939) grasp 33, inliers: 29, ||position_delta||: 0.0077, mean: 959.0468, STD: 147.7000, conf_int: (888.3944, 1029.6993) grasp 34, inliers: 12, ||position_delta||: 0.0209, mean: 1027.7570, STD: 165.5236, conf_int: (904.6691, 1150.8449) grasp 35, inliers: 18, ||position_delta||: 0.0195, mean: 985.6828, STD: 135.7694, conf_int: (903.2479, 1068.1178) grasp 36, inliers: 22, ||position_delta||: 0.0023, mean: 928.5494, STD: 143.5419, conf_int: (849.7155, 1007.3833) grasp 37, inliers: 26, ||position_delta||: 0.0109, mean: 959.9571, STD: 152.2707, conf_int: (883.0307, 1036.8836) grasp 38, inliers: 10, ||position_delta||: 0.0139, mean: 980.0873, STD: 164.6299, conf_int: (845.9794, 1114.1953) grasp 39, inliers: 15, ||position_delta||: 0.0081, mean: 920.8742, STD: 181.3784, conf_int: (800.2358, 1041.5127) grasp 40, inliers: 17, ||position_delta||: 0.0176, mean: 892.3902, STD: 91.0638, conf_int: (835.4961, 949.2842) grasp 41, inliers: 8, ||position_delta||: 0.0100, mean: 938.5207, STD: 160.8024, conf_int: (792.0693, 1084.9720) grasp 42, inliers: 23, ||position_delta||: 0.0035, mean: 931.1929, STD: 141.0201, conf_int: (855.4463, 1006.9394) grasp 43, inliers: 15, ||position_delta||: 0.0134, mean: 1008.7256, STD: 139.0494, conf_int: (916.2410, 1101.2102) grasp 44, inliers: 25, ||position_delta||: 0.0024, mean: 983.3446, STD: 126.0215, conf_int: (918.4184, 1048.2709) grasp 45, inliers: 26, ||position_delta||: 0.0060, mean: 929.9355, STD: 142.2920, conf_int: (858.0503, 1001.8208) grasp 46, inliers: 26, ||position_delta||: 0.0036, mean: 956.1070, STD: 156.3882, conf_int: (877.1004, 1035.1136) grasp 47, inliers: 20, ||position_delta||: 0.0023, mean: 931.6012, STD: 97.0072, conf_int: (875.7239, 987.4784) grasp 48, inliers: 21, ||position_delta||: 0.0117, mean: 931.7861, STD: 141.3208, conf_int: (852.3456, 1011.2267) grasp 49, inliers: 18, ||position_delta||: 0.0066, mean: 1003.6681, STD: 130.3393, conf_int: (924.5302, 1082.8061) grasp 50, inliers: 26, ||position_delta||: 0.0024, mean: 968.0755, STD: 138.1017, conf_int: (898.3072, 1037.8438) grasp 51, inliers: 20, ||position_delta||: 0.0056, mean: 1006.2607, STD: 123.8005, conf_int: (934.9503, 1077.5712) grasp 52, inliers: 20, ||position_delta||: 0.0024, mean: 927.9018, STD: 108.4548, conf_int: (865.4306, 990.3729) grasp 53, inliers: 20, ||position_delta||: 0.0034, mean: 998.2210, STD: 146.3837, conf_int: (913.9024, 1082.5396) grasp 54, inliers: 22, ||position_delta||: 0.0085, mean: 1025.7262, STD: 130.0978, conf_int: (954.2759, 1097.1766) grasp 55, inliers: 13, ||position_delta||: 0.0121, mean: 931.6847, STD: 129.9520, conf_int: (838.8400, 1024.5294) grasp 56, inliers: 3, ||position_delta||: 0.0052, mean: 1038.5553, STD: 103.6914, conf_int: (884.3398, 1192.7709) grasp 57, inliers: 12, ||position_delta||: 0.0223, mean: 967.8560, STD: 151.5628, conf_int: (855.1498, 1080.5621) grasp 58, inliers: 6, ||position_delta||: 0.0205, mean: 1152.4328, STD: 66.1246, conf_int: (1082.8930, 1221.9726) grasp 59, inliers: 7, ||position_delta||: 0.0108, mean: 853.2332, STD: 105.3139, conf_int: (750.6957, 955.7707) grasp 60, inliers: 10, ||position_delta||: 0.0303, mean: 920.3039, STD: 133.7267, conf_int: (811.3698, 1029.2380) grasp 61, inliers: 9, ||position_delta||: 0.0275, mean: 1070.1578, STD: 126.1563, conf_int: (961.8316, 1178.4841) grasp 62, inliers: 16, ||position_delta||: 0.0107, mean: 1030.7567, STD: 147.2349, conf_int: (935.9374, 1125.5760) grasp 63, inliers: 20, ||position_delta||: 0.0042, mean: 1002.1904, STD: 157.5920, conf_int: (911.4156, 1092.9652) grasp 64, inliers: 19, ||position_delta||: 0.0090, mean: 977.2279, STD: 168.4810, conf_int: (877.6599, 1076.7960) grasp 65, inliers: 20, ||position_delta||: 0.0042, mean: 919.3896, STD: 135.7722, conf_int: (841.1833, 997.5959) grasp 66, inliers: 15, ||position_delta||: 0.0219, mean: 945.0622, STD: 145.7418, conf_int: (848.1264, 1041.9980) grasp 67, inliers: 22, ||position_delta||: 0.0021, mean: 998.0332, STD: 123.1291, conf_int: (930.4101, 1065.6563) grasp 68, inliers: 8, ||position_delta||: 0.0048, mean: 923.8680, STD: 94.7477, conf_int: (837.5761, 1010.1598) grasp 69, inliers: 11, ||position_delta||: 0.0157, mean: 920.5975, STD: 159.7844, conf_int: (796.4941, 1044.7010) grasp 70, inliers: 14, ||position_delta||: 0.0109, mean: 977.6011, STD: 114.6462, conf_int: (898.6712, 1056.5310) grasp 71, inliers: 10, ||position_delta||: 0.0155, mean: 945.3906, STD: 172.7301, conf_int: (804.6843, 1086.0970) grasp 72, inliers: 2, ||position_delta||: 0.0198, mean: 1014.5552, STD: 86.5278, conf_int: (856.9443, 1172.1662) grasp 73, inliers: 17, ||position_delta||: 0.0201, mean: 1031.5371, STD: 132.8325, conf_int: (948.5471, 1114.5271) grasp 74, inliers: 10, ||position_delta||: 0.0049, mean: 930.8868, STD: 164.9689, conf_int: (796.5027, 1065.2709) grasp 75, inliers: 20, ||position_delta||: 0.0166, mean: 984.1361, STD: 139.5544, conf_int: (903.7513, 1064.5210) grasp 76, inliers: 9, ||position_delta||: 0.0112, mean: 982.8797, STD: 166.4858, conf_int: (839.9239, 1125.8355) grasp 77, inliers: 8, ||position_delta||: 0.0196, mean: 1009.5669, STD: 96.9756, conf_int: (921.2460, 1097.8878) grasp 78, inliers: 24, ||position_delta||: 0.0022, mean: 942.1969, STD: 127.7536, conf_int: (875.0210, 1009.3728) grasp 79, inliers: 16, ||position_delta||: 0.0108, mean: 1025.7653, STD: 144.4774, conf_int: (932.7219, 1118.8088) grasp 80, inliers: 11, ||position_delta||: 0.0104, mean: 983.5448, STD: 124.1144, conf_int: (887.1460, 1079.9436) grasp 81, inliers: 19, ||position_delta||: 0.0150, mean: 959.3453, STD: 161.3290, conf_int: (864.0039, 1054.6867) grasp 82, inliers: 21, ||position_delta||: 0.0062, mean: 942.8148, STD: 140.3324, conf_int: (863.9298, 1021.6997) grasp 83, inliers: 18, ||position_delta||: 0.0195, mean: 927.6315, STD: 108.4434, conf_int: (861.7880, 993.4750) grasp 84, inliers: 25, ||position_delta||: 0.0028, mean: 956.1002, STD: 132.6748, conf_int: (887.7461, 1024.4542) grasp 85, inliers: 3, ||position_delta||: 0.0196, mean: 868.0517, STD: 42.9642, conf_int: (804.1531, 931.9504) grasp 86, inliers: 23, ||position_delta||: 0.0064, mean: 943.1141, STD: 129.3769, conf_int: (873.6215, 1012.6067) grasp 87, inliers: 4, ||position_delta||: 0.0042, mean: 893.2824, STD: 55.3651, conf_int: (821.9722, 964.5926) grasp 88, inliers: 18, ||position_delta||: 0.0167, mean: 965.0107, STD: 138.1213, conf_int: (881.1477, 1048.8737) grasp 89, inliers: 4, ||position_delta||: 0.0138, mean: 869.8987, STD: 124.5080, conf_int: (709.5324, 1030.2649) grasp 90, inliers: 21, ||position_delta||: 0.0154, mean: 967.8020, STD: 121.9979, conf_int: (899.2234, 1036.3806) grasp 91, inliers: 19, ||position_delta||: 0.0143, mean: 934.7910, STD: 103.6261, conf_int: (873.5506, 996.0314) grasp 92, inliers: 21, ||position_delta||: 0.0034, mean: 943.2228, STD: 101.0375, conf_int: (886.4267, 1000.0190) grasp 93, inliers: 15, ||position_delta||: 0.0195, mean: 951.8067, STD: 105.8174, conf_int: (881.4254, 1022.1880) grasp 94, inliers: 5, ||position_delta||: 0.0202, mean: 998.1676, STD: 88.5319, conf_int: (896.1769, 1100.1582) grasp 95, inliers: 22, ||position_delta||: 0.0027, mean: 948.4418, STD: 133.5645, conf_int: (875.0875, 1021.7961) grasp 96, inliers: 20, ||position_delta||: 0.0016, mean: 999.5039, STD: 109.8069, conf_int: (936.2539, 1062.7538) grasp 97, inliers: 9, ||position_delta||: 0.0216, mean: 995.4306, STD: 130.7656, conf_int: (883.1466, 1107.7147) grasp 99, inliers: 19, ||position_delta||: 0.0114, mean: 968.9502, STD: 145.0335, conf_int: (883.2391, 1054.6614) Found 98 clusters. ======== Selected grasps ======== Grasp 0: 1082.89 Grasp 1: 961.832 Grasp 2: 958.346 Grasp 3: 956.793 Grasp 4: 956.66 Grasp 5: 954.311 Grasp 6: 954.276 Grasp 7: 948.547 Grasp 8: 944.3 Grasp 9: 943.932 Grasp 10: 936.254 Grasp 11: 935.937 Grasp 12: 935.685 Grasp 13: 934.95 Grasp 14: 932.722 Grasp 15: 932.248 Grasp 16: 930.41 Grasp 17: 928.41 Grasp 18: 927.173 Grasp 19: 924.53 Grasp 20: 922.182 Grasp 21: 921.246 Grasp 22: 919.107 Grasp 23: 918.418 Grasp 24: 916.241 Grasp 25: 913.902 Grasp 26: 911.848 Grasp 27: 911.416 Grasp 28: 904.669 Grasp 29: 904.067 Grasp 30: 903.751 Grasp 31: 903.248 Grasp 32: 900.292 Grasp 33: 899.223 Grasp 34: 898.671 Grasp 35: 898.307 Grasp 36: 898.095 Grasp 37: 896.514 Grasp 38: 896.177 Grasp 39: 892.009 Grasp 40: 888.684 Grasp 41: 888.394 Grasp 42: 887.746 Grasp 43: 887.146 Grasp 44: 886.427 Grasp 45: 884.871 Grasp 46: 884.34 Grasp 47: 883.239 Grasp 48: 883.147 Grasp 49: 883.031 Grasp 50: 881.425 Grasp 51: 881.148 Grasp 52: 877.66 Grasp 53: 877.1 Grasp 54: 875.724 Grasp 55: 875.087 Grasp 56: 875.021 Grasp 57: 873.621 Grasp 58: 873.551 Grasp 59: 872.377 Grasp 60: 871.469 Grasp 61: 870.47 Grasp 62: 867.358 Grasp 63: 865.787 Grasp 64: 865.431 Grasp 65: 864.004 Grasp 66: 863.93 Grasp 67: 861.788 Grasp 68: 858.05 Grasp 69: 856.944 Grasp 70: 856.618 Grasp 71: 855.446 Grasp 72: 855.15 Grasp 73: 852.346 Grasp 74: 849.715 Grasp 75: 848.126 Grasp 76: 845.979 Grasp 77: 841.183 Grasp 78: 840.756 Grasp 79: 839.924 Grasp 80: 838.84 Grasp 81: 837.576 Grasp 82: 835.496 Grasp 83: 835.404 Grasp 84: 821.972 Grasp 85: 812.31 Grasp 86: 811.37 Grasp 87: 804.684 Grasp 88: 804.153 Grasp 89: 800.236 Grasp 90: 796.503 Grasp 91: 796.494 Grasp 92: 792.069 Grasp 93: 787.282 Grasp 94: 760.45 Grasp 95: 756.954 Grasp 96: 750.696 Grasp 97: 709.532 Selected the 98 best grasps. ======== RUNTIMES ======== 1. Candidate generation: 6.5435s 2. Descriptor extraction: 14.5775s 3. Classification: 33.4446s ========== TOTAL: 54.6607s [ INFO] [1613989752.040978607, 563.541000000]: Found grasp candidates (result): success [ INFO] [1613989752.041024708, 563.541000000]: Grasp generated feedback received 98 candidates: terminate called after throwing an instance of 'std::runtime_error' what(): Property 'group': undefined in stage 'close hand': declared, but undefined, inherits from parent in stage 'pick object': defined here [mtc_tutorial-1] process has died [pid 22213, exit code -6, cmd /home/gurnarok/ros/elfin_ws/devel/lib/deep_grasp_task/deep_grasp_demo __name:=mtc_tutorial __log:=/home/gurnarok/.ros/log/58d9f2f4-74f7-11eb-81f2-509a4c51286d/mtc_tutorial-1.log]. log file: /home/gurnarok/.ros/log/58d9f2f4-74f7-11eb-81f2-509a4c51286d/mtc_tutorial-1*.log
What could be causing this?
The text was updated successfully, but these errors were encountered:
This seems to be fixed in #1, so closing this topic.
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Hi,
I am currently trying to get a demo working, using Elfin 5 robot arm, with schunk gripper.
When I try to start the demo, it goes through the motions of generating the grasp data, but gives this in the end
What could be causing this?
The text was updated successfully, but these errors were encountered: