Demo not workin ( no robots moves?)

Course Support Deep Learning With Domain Randomization
1

Demo problem

FetchGraspValidator window never apears in the rviz window
No robot moves in RVIZ or Gazebo

Theconsole of : roslaunch dcnn_training_pkg start_fetch_randomenv_10obj.launch
has messages that give the impression that the spam can is located and a new random image once in a while. But no fetch robot moves ???

.....
tcp_xyz=>[0.33839282, 0.27965805, 0.942]
[WARN] [1584131215.214685, 238.955000]: delta==0.3021559307918037 <= 0.2
[WARN] [1584131221.142408, 240.955000]: START Move Gripper
Going to Sage Grasp Init Pose...
[WARN] [1584131227.776773, 243.475000]: START Move Joints
[WARN] [1584131228.506164, 243.745000]: END Move Joints, result=success: True
Number of Image=>1
Waiting for Reset Env to settle=>
Waiting for Reset Env to settle...DONE
Class Prediction=>[0.36263826 0.11478812]
Class Prediction Corrected=>[0.36263826, 0.114788115, 0.642]
Class Reality SIMULATION=>[0.35647222027848574, 0.1039822813582308, 0.6397493148281966]
Class RealityTabel SIMULATION=>[0.3, 0.3, 0.3]
Going to Sage Grasp Init Pose...
[WARN] [1584131247.726686, 246.764000]: START Move Joints
[WARN] [1584131249.197567, 246.983000]: END Move Joints, result=success: True
[WARN] [1584131249.198286, 246.983000]: START Move Torso
[WARN] [1584131282.266715, 251.984000]: START Move ENd Effector
[WARN] [1584131292.554544, 253.285000]: END Move End Effector, result=success: False
[WARN] [1584131292.555570, 253.286000]: START Move Gripper
[WARN] [1584131304.721995, 255.313000]: START Move Gripper
[WARN] [1584131307.877299, 255.821000]: START Move Gripper
[WARN] [1584131323.092637, 258.332000]: START Move ENd Effector
[WARN] [1584131333.339252, 259.770000]: END Move End Effector, result=success: False
[WARN] [1584131333.343493, 259.770000]: START Move Gripper
[WARN] [1584131336.429443, 260.272000]: START Move ENd Effector
[WARN] [1584131346.603200, 261.690000]: END Move End Effector, result=success: False
model_to_track_reality=>[0.3567055698918729, 0.10386346729628038, 0.6397488089163466]
tcp_xyz=>[0.36263826, 0.114788115, 0.942]
...

Im am laso having an issue with a not moving fetch robot in the module 7-8 of Using openAI with ros

If i move forward to the next unit the Domain Randomization,
( i have an other problem that somehow could be related or not )

Problem step 7 Unit 1-1

Error message at launch

ERROR: cannot launch node of type [my_randomgazebomanager_pkg/create_training_material.py]:
 can't locate node [create_training_material.py] in package [my_randomgazebomanager_pkg]

But the file is without error and in the expected location
my_randomgazebomanager_pkg/scripts/create_training_material.py

Have tried the steps many times for the same results.

2

The error message in the last part of the previous post is solved.

Problem step 7 Unit 1-1… curiously the python file was not executable ???

But when we need to move the robot in
C) Generate 3 more images with the Fetch arm occluding activated .
The robots is not moving and i have messages similar to the ones generated by the demo

3

Hello @fgenestcvdl,

Yes, the error you mention is because the Python file doesn’t have execution permission. It’s a common error with Python scripts.

About the robot not moving, I’ve had a 1st look at this right now but it seems more complex than expected. I’ll give it another try tomorrow and let you know what I found out.

Best,

4

Hello @fgenestcvdl,

We have been checking this issue but unfortunately we have not been able to solve it yet. For this case, we will need the creator of the course to have a look at this (he will be here on Monday, next week). Our sincere apologies for this and let me suggest you to have a look at any of our other courses meanwhile this issue get solved.

Best,

5

No probems.

I know that these times are not easy.

Im am laso having an issue with a not moving fetch robot in the module 7-8 of Using openAI with ros. I have writen an issue about that subject. Since, it is also related to fetch, it could be related ( or not related i do not know )

take care FG

6

Hello @fgenestcvdl,

We are glad to tell you that we have finally been able to solve this issue of the Fetch robot not moving in the Domain Randomization Course. Thanks for your patience and let us know if you find any other issue.

Best,