mrudorfer / burg-toolkit Goto Github PK

From docs:

:return: grasp.GraspSet

In code:

return gs, gs_contacts

Should be the same.

When creating some instance of burg.sim.SimulatorBase, argv[0]= appears on the system output. Probably originates from pybullet's bullet client and is quite annoying especially when creating lots of simulators in parallel processing.

Todo:
Track down from where exactly it comes, and whether we can convince pybullet to suppress it.

Assets like gripper URDF files cannot be accessed when package is installed to site-packages.
To reproduce error install this package directly from github:

pip install git+https://github.com/mrudorfer/burg-toolkit.git@dev

Then loading a gripper in simulation:

import burg_toolkit as burg
import numpy as np

sim = burg.sim.GraspSimulator(burg.Scene(), verbose=True, plane_and_gravity=True)
gripper = burg.gripper.Franka(sim)
gripper.load(np.eye(4))

The error will be:

b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,152]:

b3Printf: URDF file '/home/martin/dev/burg-toolkit/venv/lib/python3.6/site-packages/burg_toolkit/gripper/assets/franka/model.urdf' not found

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/martin/dev/burg-toolkit/venv/lib/python3.6/site-packages/burg_toolkit/gripper/franka.py", line 31, in load
    baseOrientation=orientation
pybullet.error: Cannot load URDF file.

Checking the site-packages directory to which the toolkit has been installed, the asset folders are not there and hence the files cannot be found.
What is the best way to install the package including those files?

The call to burg.show_geometries(...) would bring up the visualiser window but without any contents. The terminal gives an error saying that wglMakeCurrent() failed.

Further investigations revealed that this only happens with AMD CPU for graphic or AMD graphics cards and is a known issue in Open3D Viewer (or even further underlying packages).

I temporarily "fixed" it in dev branch by using open3d.draw_geometries() instead of open3d.draw() as suggested here, but the viewer limits the functionality. I used draw_geometries for compatibility reasons. If you are on Intel/nVidia you can simpy switch back to open3d.draw() to see the menu in the viewer (and e.g. activate deactivate individual meshes).