FAQ

Error in perception module: "error processing request: conv2d(): argument 'input' (position 1) must be Tensor, not NoneType"

Reason: To accelerate computing, the rendered images are cached. Sometimes the cache is not complete. You need to delete all the cache.
Solution: Delete all files in /root/ocrtoc_ws/src/ocrtoc_perception/src/ocrtoc_perception/pose/rendered_object_images EXCEPT views.yaml.

Error in moveit: "PluginlibFactory: The plugin for class 'rviz_visual_tools/RvizVisualToolsGui' failed to load."

Solution: It doesn't matter.

Error in x server when debug is set to True while using superglue perception method.

Reason: This problem is caused by pyrender. After rendering images, open3d and matplotlib visualization can not be used.
Solution: Currently, you need to delete all the visualization after rendering.

Why Sapien simulator stops for a short time each second.

Reason: Sapien renders and publishes images at a frequency of 1 Hz. As a result, when the graphics engine is rendering, the physics engine waits until it ends. However, this doesn't affect the phisical process.

Error in Sapien simulator: "A controller named 'position_joint_trajectory_controller' was already loaded inside the controller manager"

Solution: It doesn't matter, you can continue using the simulator.

Can I read the object 6d poses from simulators?

Answer: You may use the /get_model_state interface while debugging. An example is in ocrtoc_task/scripts/get_6dpose_dump_simulator.py. But you should NEVER do that in your solution. The scores will be cancelled if we find that you read the poses directly from the simulator.