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<div class="moz-cite-prefix">Hi Miro<br>
<br>
<blockquote type="cite"><tt>203 - LoadOpenGLExtension (Failed)</tt><tt><br>
</tt></blockquote>
keep it simple. forget about the GPURayCast until this test
passes.<br>
<br>
<blockquote type="cite"><b><tt>#define VTK_NO_EXTENSION_LOADING</tt></b><tt><br>
</tt></blockquote>
that happens if neither glXGetProcAddressARB nor glXGetProcAddress
is found. I think this is your problem. I could verify these are
around as follows:<br>
<blockquote>$ grep glXGetProcAddress /usr/include/GL/ -rIn<br>
$ nm -CD /usr/lib/x86_64-linux-gnu/libGL.so | grep glXGetProcAdd<br>
</blockquote>
and verify that VTK found them too:<br>
<blockquote>$grep GLX ./CMakeCache.txt<br>
</blockquote>
<br>
<blockquote type="cite">after I installed nvidia propriatory
driver, I got another libGL.so in /usr/lib/nvidia-310/libGL.so
so I re-configured vtk</blockquote>
did you rm -rf your build just to make sure that there's no bad
values in your cmake cache? might be worth a try if you hadn't.<br>
<br>
Burlen<br>
<br>
<br>
On 09/11/2013 03:36 PM, Miro Drahos wrote:<br>
</div>
<blockquote cite="mid:5230F065.2070006@robodoc.com" type="cite">
<meta content="text/html; charset=windows-1252"
http-equiv="Content-Type">
Thanks burlen and Julien.<br>
<br>
I did call Render() to initialize the GL context. Created a new
plain vtkRenderWindow too (in my application I use QVTKWidget):<br>
<tt> cout << " DEBUG standalone renwin" << endl;</tt><br>
<tt>vtkRenderWindow * rw = vtkRenderWindow::New();</tt><tt><br>
</tt><tt> rw->SetSize(512, 512);</tt><tt><br>
</tt><tt> rw->Render();</tt><tt><br>
</tt><tt> </tt><tt><br>
</tt><tt> VTK_CREATE(vtkRenderer, ren);</tt><tt><br>
</tt><tt> ren->AddViewProp(this->m_volume);</tt><tt><br>
</tt><tt> rw->AddRenderer(ren);</tt><tt><br>
</tt><tt><br>
</tt><tt> vtkOpenGLExtensionManager
*extensions=vtkOpenGLExtensionManager::New();</tt><tt><br>
</tt><tt> extensions->SetRenderWindow(rw);</tt><tt><br>
</tt><tt> extensions->Update();</tt><tt><br>
</tt><tt><br>
</tt><tt> cout << " SUPPORTS 1.3? " <<
extensions->ExtensionSupported("GL_VERSION_1_3") <<
endl;</tt><tt><br>
</tt><tt> cout << "====================== exts:
==================== " <<</tt><tt><br>
</tt><tt> extensions->GetExtensionsString() << </tt><tt><br>
</tt><tt> "================================================== "
<< endl;</tt><tt><br>
</tt><tt> rw->Render();</tt><tt><br>
</tt><tt> cout << " DEBUG standalone renwin done" <<
endl; </tt><tt><br>
</tt><br>
But the terminal output shows empty string:<br>
<tt> DEBUG standalone renwin</tt><tt><br>
</tt><tt> SUPPORTS 1.3? 0</tt><tt><br>
</tt><tt>====================== exts: ====================
================================================== </tt><tt><br>
</tt><tt>ERROR: In
/home/miro/BUILDS/VTK5.10.1/VolumeRendering/vtkOpenGLVolumeTextureMapper3D.cxx,
line 100</tt><tt><br>
</tt><tt>vtkOpenGLVolumeTextureMapper3D (0xba0c9c0): required
extensions not supported</tt><tt><br>
</tt><tt><br>
</tt><tt> DEBUG standalone renwin done</tt><tt><br>
</tt><br>
Julien's hint got me to dig deeper into why I am getting the empty
GetExtensionsString().<br>
<br>
Looking at the sources, the reason why it returns an empty string
is because of this #define:<br>
VTK_NO_EXTENSION_LOADING<br>
which causes vtkOpenGLExtensionManager::ReadOpenGLExtensions() to
set the extensions to empty string<br>
This #define gets into play from #include'd
vtkOpenGLExtensionManagerConfigure.h which contains only the
following:<br>
<tt><br>
</tt><tt>/* #undef VTK_USE_WGL_GET_PROC_ADDRESS */</tt><tt><br>
</tt><tt>/* #undef VTK_USE_APPLE_LOADER */</tt><tt><br>
</tt><tt>/* #undef VTK_USE_GLX_GET_PROC_ADDRESS */</tt><tt><br>
</tt><tt>/* #undef VTK_USE_GLX_GET_PROC_ADDRESS_ARB */</tt><tt><br>
</tt><tt>/* #undef VTK_USE_VTK_DYNAMIC_LOADER */</tt><tt><br>
</tt><b><tt>#define VTK_NO_EXTENSION_LOADING</tt></b><tt><br>
</tt><tt><br>
</tt><tt>/* #undef VTK_DEFINE_GLX_GET_PROC_ADDRESS_PROTOTYPE */</tt><tt><br>
</tt><tt><br>
</tt><tt>// If using vtkDynamicLoader, we need to know where the
libraries are.</tt><tt><br>
</tt><tt>#define OPENGL_LIBRARIES
"/usr/lib/x86_64-linux-gnu/libGLU.so;/usr/lib/x86_64-linux-gnu/libGL.so;/usr/lib/x86_64-linux-gnu/libSM.so;/usr/lib/x86_64-linux-gnu/libICE.so;/usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so"</tt><tt><br>
</tt><br>
This #define must have gotten there when configuring the VTK
build. I tried to search CMakeLists.txt for
VTK_NO_EXTENSION_LOADING and it appers in this section (which I
admit I have no clue about):<br>
<tt> IF(VTK_USE_X)</tt><tt><br>
</tt><tt> CHECK_FUNCTION_EXISTS(glXGetProcAddressARB
VTK_USE_GLX_GET_PROC_ADDRESS_ARB)</tt><tt><br>
</tt><tt> IF (VTK_USE_GLX_GET_PROC_ADDRESS_ARB)</tt><tt><br>
</tt><tt> IF (NOT
"${VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS_INCLUDES}"
STREQUAL "${OPENGL_INCLUDE_DIR}")</tt><tt><br>
</tt><tt> # The OpenGL includes changed. Retest
glXGetProcAddressARB prototype.</tt><tt><br>
</tt><tt>
SET(VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS_TESTED 0)</tt><tt><br>
</tt><tt> ENDIF (NOT
"${VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS_INCLUDES}"
STREQUAL "${OPENGL_INCLUDE_DIR}")</tt><tt><br>
</tt><tt> IF (NOT
VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS_TESTED)</tt><tt><br>
</tt><tt> MESSAGE(STATUS "Looking for
glXGetProcAddressARB in GL/glx.h")</tt><tt><br>
</tt><tt>
TRY_COMPILE(VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS</tt><tt><br>
</tt><tt> ${CMAKE_BINARY_DIR}</tt><tt><br>
</tt><tt>
${CMAKE_CURRENT_SOURCE_DIR}/CheckglXGetProcAddressARB.cxx</tt><tt><br>
</tt><tt> CMAKE_FLAGS
"-DLINK_LIBRARIES:STRING=${CMAKE_REQUIRED_LIBRARIES}"</tt><tt><br>
</tt><tt>
"-DINCLUDE_DIRECTORIES:STRING=${OPENGL_INCLUDE_DIR}"</tt><tt><br>
</tt><tt> OUTPUT_VARIABLE OUTPUT)</tt><tt><br>
</tt><tt> MESSAGE(STATUS "Looking for
glXGetProcAddressARB in GL/glx.h -
${VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS}")</tt><tt><br>
</tt><tt> FILE(APPEND ${CMAKE_BINARY_DIR}/CMakeOutput.log</tt><tt><br>
</tt><tt> "Determining if glXGetProcAddressARB exists
in GL/glx.h ${VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS}
with the following output:\n"</tt><tt><br>
</tt><tt> "${OUTPUT}\n\n")</tt><tt><br>
</tt><tt>
SET(VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS_TESTED 1</tt><tt><br>
</tt><tt> CACHE INTERNAL "Already set
VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS")</tt><tt><br>
</tt><tt>
SET(VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS_INCLUDES</tt><tt><br>
</tt><tt> "${OPENGL_INCLUDE_DIR}"</tt><tt><br>
</tt><tt> CACHE INTERNAL "OpenGL includes used to test
glXGetProcAddressARB prototype.")</tt><tt><br>
</tt><tt> ENDIF (NOT
VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS_TESTED)</tt><tt><br>
</tt><tt> IF (NOT
VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS)</tt><tt><br>
</tt><tt> SET(VTK_DEFINE_GLX_GET_PROC_ADDRESS_PROTOTYPE
1)</tt><tt><br>
</tt><tt> ENDIF (NOT
VTK_GLX_GET_PROC_ADDRESS_ARB_PROTOTYPE_EXISTS)</tt><tt><br>
</tt><tt> ELSE (VTK_USE_GLX_GET_PROC_ADDRESS_ARB)</tt><tt><br>
</tt><tt> CHECK_FUNCTION_EXISTS(glXGetProcAddress
VTK_USE_GLX_GET_PROC_ADDRESS)</tt><tt><br>
</tt><tt> IF (NOT VTK_USE_GLX_GET_PROC_ADDRESS)</tt><tt><br>
</tt><tt> # SET(VTK_USE_VTK_DYNAMIC_LOADER 1)</tt><tt><br>
</tt><tt> MESSAGE(STATUS "Could not find extension
loader. Extensions disabled.")</tt><tt><br>
</tt><b><tt> SET(VTK_NO_EXTENSION_LOADING 1)</tt></b><tt><br>
</tt><tt> ENDIF (NOT VTK_USE_GLX_GET_PROC_ADDRESS)</tt><tt><br>
</tt><tt> ENDIF (VTK_USE_GLX_GET_PROC_ADDRESS_ARB)</tt><tt><br>
</tt><tt> ELSE(VTK_USE_X)</tt><tt><br>
</tt><b><tt> SET(VTK_NO_EXTENSION_LOADING 1)</tt></b><tt><br>
</tt><tt> ENDIF(VTK_USE_X)</tt><tt><br>
</tt><br>
When configuring VTK, the cmake option VTK_OPENGL_HAS_OSMESA was
OFF, if it matters at all.<br>
Some other openGL options in cmake config:<br>
<tt> OPENGL_INCLUDE_DIR
/usr/include
</tt><tt><br>
</tt><tt> OPENGL_gl_LIBRARY
/usr/lib/x86_64-linux-gnu/libGL.so
</tt><tt><br>
</tt><tt> OPENGL_glu_LIBRARY
/usr/lib/x86_64-linux-gnu/libGLU.so
</tt><tt><br>
</tt><tt> OPENGL_xmesa_INCLUDE_DIR
OPENGL_xmesa_INCLUDE_DIR-NOTFOUND </tt><tt><br>
</tt><br>
Now after I installed nvidia propriatory driver, I got another
libGL.so in /usr/lib/nvidia-310/libGL.so so I re-configured vtk
with <br>
<tt> </tt><tt>OPENGL_gl_LIBRARY
/usr/lib/nvidia-310/libGL.so
</tt><tt><br>
</tt>instead and recompiled, but it didn't change things. The
vtkOpenGLExtensionManagerConfigure.h still #defines
VTK_NO_EXTENSION_LOADING.<br>
<br>
The tests (thanks burlen!) show the following:<br>
<tt><br>
</tt><tt>$ ctest -R LoadOpenGL --verbose | grep GL_</tt><tt><br>
</tt><tt>203: GL_VENDOR: NVIDIA Corporation</tt><tt><br>
</tt><tt>203: GL_VERSION: 4.3.0 NVIDIA 310.44</tt><tt><br>
</tt><tt>203: GL_RENDERER: GeForce GT 520/PCIe/SSE2</tt><tt><br>
</tt><tt>Errors while running CTest</tt><br>
<br>
The relevant failed line was this:<br>
<tt>The following tests FAILED:</tt><tt><br>
</tt><tt> 203 - LoadOpenGLExtension (Failed)</tt><tt><br>
</tt><br>
Then the Tests binary shows nvidia's libGL.so in use, as expected:<br>
<tt>$ ldd bin/RenderingCxxTests | grep GL</tt><tt><br>
</tt><tt> libGL.so.1 => /usr/lib/nvidia-310/libGL.so.1
(0x00007f75d8888000)</tt><tt><br>
</tt><br>
But most interestingly, <br>
<tt>ctest -R GPURay </tt><br>
all tests in this battery pass, only one segfaults:<br>
<br>
<tt> 8/17 Test #303: TestGPURayCastDataTypesMinIP
.....................***Exception: SegFault 0.02 sec</tt><br>
<br>
That being said, I see the renderwindow flicker, but I don't see
any content (e.g. sphere) rendered. I'd like to run the tests in
interactive mode, but not sure how?<br>
<br>
I could build the latest vtk version from git and see whether I
can replicate the issue there if you think it would make debugging
easier.<br>
<br>
Some more info on my system: <br>
Installed OpenGL-related packages:<br>
<tt>$ sudo dpkg-query -l | egrep -i 'mesa|opengl'</tt><tt><br>
</tt><tt>ii compiz-core
1:0.9.9~daily13.06.19~13.04-0ubuntu1 amd64 OpenGL
window and compositing manager</tt><tt><br>
</tt><tt>ii compiz-plugins-default
1:0.9.9~daily13.06.19~13.04-0ubuntu1 amd64 OpenGL
window and compositing manager - default plugins</tt><tt><br>
</tt><tt>ii glew-utils
1.9.0.is.1.8.0-0ubuntu1 amd64 OpenGL
Extension Wrangler - utilities</tt><tt><br>
</tt><tt>ii libegl1-mesa:amd64
9.1.3-0ubuntu0.3 amd64 free
implementation of the EGL API -- runtime</tt><tt><br>
</tt><tt>ii libegl1-mesa-dev
9.1.3-0ubuntu0.3 amd64 free
implementation of the EGL API -- development files</tt><tt><br>
</tt><tt>ii libegl1-mesa-drivers:amd64
9.1.3-0ubuntu0.3 amd64 free
implementation of the EGL API -- hardware drivers</tt><tt><br>
</tt><tt>ii libgl1-mesa-dev
9.1.3-0ubuntu0.3 amd64 free
implementation of the OpenGL API -- GLX development files</tt><tt><br>
</tt><tt>ii libgl1-mesa-dri:amd64
9.1.3-0ubuntu0.3 amd64 free
implementation of the OpenGL API -- DRI modules</tt><tt><br>
</tt><tt>ii libgl1-mesa-dri-dbg:amd64
9.1.3-0ubuntu0.3 amd64
Debugging symbols for the Mesa DRI modules</tt><tt><br>
</tt><tt>ii libgl1-mesa-glx:amd64
9.1.3-0ubuntu0.3 amd64 free
implementation of the OpenGL API -- GLX runtime</tt><tt><br>
</tt><tt>ii libgl2ps0
1.3.6-1 amd64 Lib
providing high quality vector output for OpenGL application</tt><tt><br>
</tt><tt>ii libglapi-mesa:amd64
9.1.3-0ubuntu0.3 amd64 free
implementation of the GL API -- shared library</tt><tt><br>
</tt><tt>ii libgles2-mesa:amd64
9.1.3-0ubuntu0.3 amd64 free
implementation of the OpenGL|ES 2.x API -- runtime</tt><tt><br>
</tt><tt>ii libglew1.8:amd64
1.9.0.is.1.8.0-0ubuntu1 amd64 OpenGL
Extension Wrangler - runtime environment</tt><tt><br>
</tt><tt>ii libglewmx1.8:amd64
1.9.0.is.1.8.0-0ubuntu1 amd64 OpenGL
Extension Wrangler (Multiple Rendering Contexts)</tt><tt><br>
</tt><tt>ii libglu1-mesa:amd64
9.0.0-0ubuntu1 amd64 Mesa
OpenGL utility library (GLU)</tt><tt><br>
</tt><tt>ii libglu1-mesa-dev
9.0.0-0ubuntu1 amd64 Mesa
OpenGL utility library -- development files</tt><tt><br>
</tt><tt>ii libopenvg1-mesa:amd64
9.1.3-0ubuntu0.3 amd64 free
implementation of the OpenVG API -- runtime</tt><tt><br>
</tt><tt>ii libopenvg1-mesa-dev
9.1.3-0ubuntu0.3 amd64 free
implementation of the OpenVG API -- development files</tt><tt><br>
</tt><tt>ii libqt4-opengl:amd64
4:4.8.4+dfsg-0ubuntu9.2 amd64 Qt 4
OpenGL module</tt><tt><br>
</tt><tt>ii libreoffice-ogltrans
1:4.0.2-0ubuntu1 amd64
LibreOffice Impress extension for transitions using OpenGL</tt><tt><br>
</tt><tt>ii libtxc-dxtn-s2tc0:amd64
0~git20121227-1 amd64 Texture
compression library for Mesa</tt><tt><br>
</tt><tt>ii mesa-common-dev
9.1.3-0ubuntu0.3 amd64
Developer documentation for Mesa</tt><tt><br>
</tt><tt>ii mesa-utils
8.0.1+git20110129+d8f7d6b-0ubuntu2 amd64
Miscellaneous Mesa GL utilities</tt><tt><br>
</tt><tt>ii x11proto-gl-dev
1.4.16-1 all X11
OpenGL extension wire protocol</tt><tt><br>
</tt><br>
Thanks again!<br>
Miro<br>
<br>
<br>
<br>
<br>
<br>
<div class="moz-cite-prefix">On 09/11/2013 03:08 PM, burlen wrote:<br>
</div>
<blockquote cite="mid:5230E9DE.40606@gmail.com" type="cite">
<meta http-equiv="Content-Type" content="text/html;
charset=windows-1252">
<div class="moz-cite-prefix">also, did you call
"renWin->Render()" once before using the extension manager?
or class that uses the extension manager?<br>
<br>
On 09/11/2013 02:21 PM, burlen wrote:<br>
</div>
<blockquote cite="mid:5230DEEA.5080001@gmail.com" type="cite">
<div class="moz-cite-prefix">in your vtk build dir, what does
the output of <br>
<blockquote>$ ctest -R LoadOpenGL --verbose | grep GL_<br>
</blockquote>
say? If it's not reporting the expected versions then you
could verify which driver VTK using with:<br>
<blockquote>$ ldd bin/vtkRenderingVolumeCxxTests | grep GL<br>
</blockquote>
you may try this also on your app to verify. Do VTK's tests
have the same issue?<br>
<blockquote>$ ctest -R GPURay --verbose<br>
</blockquote>
if none of this helps, would you be willing to work with the
development version of VTK? it will be easier to find and
fix the bug.<br>
<br>
Burlen<br>
<br>
On 09/10/2013 07:21 PM, Miro Drahos wrote:<br>
</div>
<blockquote cite="mid:522FD390.4000302@robodoc.com"
type="cite"> Hi all,<br>
I am having an issue with volume mappers and hope someone
can provide some constructive feedback.<br>
When trying to use vtkGPUVolumeRayCastMapper rendering fails
with the message:<br>
<tt>ERROR: In
/home/miro/BUILDS/VTK5.10.1/VolumeRendering/vtkOpenGLGPUVolumeRayCastMapper.cxx,
line 4011</tt><tt><br>
</tt><tt>vtkOpenGLGPUVolumeRayCastMapper (0x12e15ce0):
Rendering failed because the following OpenGL extensions
are required but not supported: OpenGL 1.3 is required
but not supported</tt><br>
<br>
If I run <br>
<tt>glGetString(GL_VERSION)</tt><br>
I get the correct output string:<br>
<tt>4.3.0 NVIDIA 310.44</tt><br>
<br>
and yet the
vtkOpenGLExtensionManager::ExtensionSupported("GL_VERSION_1_3")
somehow returns 0.<br>
<br>
I am using vtk 5.10, my graphics card is NVIDIA GT520, using
NVIDIA propriatory driver 310.44 on Linux Mint 15 (same
thing with open-source nouveau driver).<br>
Some terminal output that may be relevant:<br>
<tt><br>
</tt><tt>$ glewinfo | grep GL_VER</tt><tt><br>
</tt><tt>GL_VERSION_1_1:
OK </tt><tt><br>
</tt><tt>GL_VERSION_1_2:
OK </tt><tt><br>
</tt><tt>GL_VERSION_1_2_1:
OK </tt><tt><br>
</tt><tt>GL_VERSION_1_3:
OK </tt><tt><br>
</tt><tt>GL_VERSION_1_4:
OK </tt><tt><br>
</tt><tt>GL_VERSION_1_5:
OK </tt><tt><br>
</tt><tt>GL_VERSION_2_0:
OK </tt><tt><br>
</tt><tt>GL_VERSION_2_1:
OK </tt><tt><br>
</tt><tt>GL_VERSION_3_0:
OK </tt><tt><br>
</tt><tt>GL_VERSION_3_1:
OK </tt><tt><br>
</tt><tt>GL_VERSION_3_2:
OK </tt><tt><br>
</tt><tt>GL_VERSION_3_3:
OK </tt><tt><br>
</tt><tt>GL_VERSION_4_0:
OK </tt><tt><br>
</tt><tt>GL_VERSION_4_1:
OK </tt><tt><br>
</tt><tt>GL_VERSION_4_2:
OK </tt><tt><br>
</tt><tt><br>
</tt><tt>$ inxi -Gx</tt><tt><br>
</tt><tt>Graphics: Card: NVIDIA GF119 [GeForce GT 520]
bus-ID: 01:00.0 </tt><tt><br>
</tt><tt> X.Org: 1.13.3 drivers: nvidia (unloaded:
fbdev,vesa,nouveau) Resolution: <a moz-do-not-send="true"
class="moz-txt-link-abbreviated"
href="mailto:1920x1080@60.0hz">1920x1080@60.0hz</a>, <a
moz-do-not-send="true" class="moz-txt-link-abbreviated"
href="mailto:1920x1080@60.0hz">1920x1080@60.0hz</a> </tt><tt><br>
</tt><tt> GLX Renderer: GeForce GT 520/PCIe/SSE2
GLX Version: 4.3.0 NVIDIA 310.44 Direct Rendering: Yes</tt><tt><br>
</tt><br>
<br>
More puzzling yet it gets when I try to use
vtkVolumeMapperTexture3D, I get <br>
<tt>ERROR: In
/home/miro/BUILDS/VTK5.10.1/VolumeRendering/vtkOpenGLGPUVolumeRayCastMapper.cxx,
line 4011</tt><tt><br>
</tt><tt>vtkOpenGLGPUVolumeRayCastMapper (0x12e15ce0):
Rendering failed because the following OpenGL extensions
are required but not supported: </tt><br>
<br>
With no list of problem extensions...<br>
<br>
Thank you very much for any input on this!<br>
<br>
<div class="moz-signature">
<div style="font-size:95%; width:13.5em;text-align:left;
padding-left:1em; .moz-signature { display: none; }">
<hr style="width:11em; border-top:3px double #aaa;
width:155%; margin-left:-0.5em;"> Miroslav Draho<br>
<div style="font-size:75%"> software engineer<br>
<a moz-do-not-send="true"
href="http://www.robodoc.com"><img
src="cid:part3.06000006.07040602@gmail.com"
height="31px" width="128px"></a><br>
<b>Curexo Technology Corporation</b><br>
47320 Mission Falls Ct<br>
Fremont CA, 94539<br>
Tel: (510) 249-2300 x2372<br>
Fax: (510) 249-2396<br>
<a moz-do-not-send="true"
href="http://www.robodoc.com">www.robodoc.com</a><br>
<br>
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