Having trouble when 'python setup.py develop' #9

xyaochen · 2023-04-08T06:09:24Z

I encountered something wrong when setup DGRASP environment.
When I use "python setup.py develop" in raisimGymTorch
"
/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( /home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn( -- pybind11 v2.9.0 -- raisim: -- Version: 1.1.6 -- Includes: /home/xuanyao/raisim/dgrasp/raisim/linux/include -- Libraries: raisim::raisimPng;raisim::raisimODE;raisim::raisimMine;raisim::raisim
raisim os linux raisim arch
raisim os linux
raisim arch
-- Configuring done
-- Generating done
-- Build files have been written to: /home/xuanyao/raisim/dgrasp/raisimGymTorch/build/temp.linux-x86_64-cpython-38
Consolidate compiler generated dependencies of target dgrasp
Consolidate compiler generated dependencies of target dgrasp_test
[ 33%] Building CXX object CMakeFiles/dgrasp.dir/raisimGymTorch/env/raisim_gym.cpp.o
[ 33%] Building CXX object CMakeFiles/dgrasp_test.dir/raisimGymTorch/env/raisim_gym.cpp.o
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/LU:29,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:2,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/math/Core.hpp:12,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/math.hpp:17,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/RaiSimTinyXmlWrapper.hpp:14,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/Materials.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/contact/BisectionContactSolver.hpp:15,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/object/Object.hpp:12,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/World.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp_test/../../RaisimGymEnv.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp_test/Environment.hpp:10,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/raisim_gym.cpp:9:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h: In static member function ‘static Eigen::Index Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::unblocked_lu(MatrixTypeRef&, PivIndex*, PivIndex&)’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h:390:24: error: ‘fix’ was not declared in this scope
390 | lu.col(k).tail(fix(rrows)) /= lu.coeff(k,k);
| ^~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:30: error: ‘fix’ was not declared in this scope
400 | lu.bottomRightCorner(fix(rrows),fix(rcols)).noalias() -= lu.col(k).tail(fix(rrows)) * lu.row(k).tail(fix(rcols));
| ^~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Householder:24,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/QR:15,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:4:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h: In member function ‘typename Eigen::internal::matrix_type_times_scalar_type<typename Eigen::internal::traits<Eigen::HouseholderSequence<VectorsType, CoeffsType, Side> >::Scalar, OtherDerived>::Type Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>::operator*(const Eigen::MatrixBase&) const’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:41: error: ‘is_identity’ is not a member of ‘Eigen::internal’
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^~~~~~~~~~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:65: error: expected primary-expression before ‘>’ token
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:68: error: ‘::value’ has not been declared
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^~~~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/LU:29,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:2,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/math/Core.hpp:12,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/math.hpp:17,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/RaiSimTinyXmlWrapper.hpp:14,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/Materials.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/contact/BisectionContactSolver.hpp:15,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/object/Object.hpp:12,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/World.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp/../../RaisimGymEnv.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp/Environment.hpp:10,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/raisim_gym.cpp:9:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h: In static member function ‘static Eigen::Index Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::unblocked_lu(MatrixTypeRef&, PivIndex*, PivIndex&)’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h:390:24: error: ‘fix’ was not declared in this scope
390 | lu.col(k).tail(fix(rrows)) /= lu.coeff(k,k);
| ^~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/QR:37:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h: At global scope:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h:58:27: error: ‘solve_assertion’ in namespace ‘Eigen::internal’ does not name a type
58 | friend struct internal::solve_assertion;
| ^~~~~~~~~~~~~~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:30: error: ‘fix’ was not declared in this scope
400 | lu.bottomRightCorner(fix(rrows),fix(rcols)).noalias() -= lu.col(k).tail(fix(rrows)) * lu.row(k).tail(fix(rcols));
| ^~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/SVD:36,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:5:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:42: error: ‘SVDBase’ was not declared in this scope
22 | template struct traits<SVDBase >
| ^~~~~~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:57: error: template argument 1 is invalid
22 | template struct traits<SVDBase >
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:59: error: expected unqualified-id before ‘>’ token
22 | template struct traits<SVDBase >
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:65:27: error: ‘solve_assertion’ in namespace ‘Eigen::internal’ does not name a type
65 | friend struct internal::solve_assertion;
| ^~~~~~~~~~~~~~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Householder:24,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/QR:15,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:4:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h: In member function ‘typename Eigen::internal::matrix_type_times_scalar_type<typename Eigen::internal::traits<Eigen::HouseholderSequence<VectorsType, CoeffsType, Side> >::Scalar, OtherDerived>::Type Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>::operator*(const Eigen::MatrixBase&) const’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:41: error: ‘is_identity’ is not a member of ‘Eigen::internal’
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^~~~~~~~~~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:65: error: expected primary-expression before ‘>’ token
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:68: error: ‘::value’ has not been declared
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^~~~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/QR:37:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h: At global scope:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h:58:27: error: ‘solve_assertion’ in namespace ‘Eigen::internal’ does not name a type
58 | friend struct internal::solve_assertion;
| ^~~~~~~~~~~~~~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/SVD:36,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:5:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:42: error: ‘SVDBase’ was not declared in this scope
22 | template struct traits<SVDBase >
| ^~~~~~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:57: error: template argument 1 is invalid
22 | template struct traits<SVDBase >
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:59: error: expected unqualified-id before ‘>’ token
22 | template struct traits<SVDBase >
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:65:27: error: ‘solve_assertion’ in namespace ‘Eigen::internal’ does not name a type
65 | friend struct internal::solve_assertion;
| ^~~~~~~~~~~~~~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Geometry:44,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:6:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h: In member function ‘Eigen::Transform<Scalar, Dim, Mode, Options>& Eigen::Transform<Scalar, Dim, Mode, _Options>::pretranslate(const Eigen::MatrixBase&)’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h:920:6: error: there are no arguments to ‘EIGEN_CONST_CONDITIONAL’ that depend on a template parameter, so a declaration of ‘EIGEN_CONST_CONDITIONAL’ must be available [-fpermissive]
920 | if(EIGEN_CONST_CONDITIONAL(int(Mode)==int(Projective)))
| ^~~~~~~~~~~~~~~~~~~~~~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h:920:6: note: (if you use ‘-fpermissive’, G++ will accep your code, but allowing the use of an undeclared name is deprecated)
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Geometry:44,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:6:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h: In member function ‘Eigen::Transform<Scalar, Dim, Mode, Options>& Eigen::Transform<Scalar, Dim, Mode, _Options>::pretranslate(const Eigen::MatrixBase&)’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h:920:6: error: there are no arguments to ‘EIGEN_CONST_CONDITIONAL’ that depend on a template parameter, so a declaration of ‘EIGEN_CONST_CONDITIONAL’ must be available [-fpermissive]
920 | if(EIGEN_CONST_CONDITIONAL(int(Mode)==int(Projective)))
| ^~~~~~~~~~~~~~~~~~~~~~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h:920:6: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
make[2]: *** [CMakeFiles/dgrasp_test.dir/build.make:76: CMakeFiles/dgrasp_test.dir/raisimGymTorch/env/raisim_gym.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:102: CMakeFiles/dgrasp_test.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/dgrasp.dir/build.make:76: CMakeFiles/dgrasp.dir/raisimGymTorch/env/raisim_gym.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:128: CMakeFiles/dgrasp.dir/all] Error 2
make: *** [Makefile:91: all] Error 2
Traceback (most recent call last):
File "setup.py", line 68, in
setup(
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 185, in setup
return run_commands(dist)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 201, in run_commands
dist.run_commands()
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 969, in run_commands
self.run_command(cmd)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/dist.py", line 1208, in run_command
super().run_command(command)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/develop.py", line 34, in run
self.install_for_development()
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/develop.py", line 114, in install_for_development
self.run_command('build_ext')
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
self.distribution.run_command(command)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/dist.py", line 1208, in run_command
super().run_command(command)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "setup.py", line 38, in run
self.build_extension(ext)
File "setup.py", line 66, in build_extension
subprocess.check_call(['cmake', '--build', '.'] + build_args, cwd=self.build_temp)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/subprocess.py", line 364, in check_call
raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['cmake', '--build', '.', '--config', 'Release', '--', '-j2']' returned non-zero exit status 2.
"

I've been struggling with this issue for a few days now and I would really appreciate it if someone could take a look and offer some guidance on how to resolve it. Thank you in advance!

handover-sim2real · 2023-04-08T08:22:45Z

Hi,

I have a few questions to better help you debug this:

Can you let me know your system setup?
Do you have the libeigen package installed?
sudo apt install libeigen3-dev
Did you previously have dgrasp installed before I switched everything to the new RaiSim version (1.1.6)?

Thanks,
Sammy

xyaochen · 2023-04-08T10:09:14Z

It seems that I have successfully set up environments.

python setup.py develop

_/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
-- pybind11 v2.9.0
-- raisim:
-- Version: 1.1.6
-- Includes: /home/xuanyao/raisim/dgrasp/raisim/linux/include
-- Libraries: raisim::raisimPng;raisim::raisimODE;raisim::raisimMine;raisim::raisim
raisim os linux
raisim arch
raisim os linux
raisim arch
-- Configuring done (0.3s)
-- Generating done (0.1s)
-- Build files have been written to: /home/xuanyao/raisim/dgrasp/raisimGymTorch/build/temp.linux-x86_64-cpython-38
[100%] Built target dgrasp
[100%] Built target dgrasp_test

However, when I try to evaluate:

python raisimGymTorch/env/envs/dgrasp_test/runner.py -o 12 -e '021_bleach_dexycb' -sd 'pretrained_policies' -w 'full_3000.pt'

It shows that:
Traceback (most recent call last):
File "raisimGymTorch/env/envs/dgrasp_test/runner.py", line 2, in
from raisimGymTorch.env.bin import dgrasp_test as mano
ImportError: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.29' not found (required by /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/bin/dgrasp_test.cpython-38-x86_64-linux-gnu.so)

Do I have something wrong about my set up or compliration?

xyaochen · 2023-04-08T10:12:36Z

the libeigen is installed in /usr/include/eigen3, so I change the #include<Eigen/Core> to #include<eigens/Eigen/Core> in some files.
I tried install dgrasp in recent days, so I don't install the previous version.

the libeigen is installed in /usr/include/eigen3, so I change the #include<Eigen/Core> to #include<eigens/Eigen/Core> in some files.
I tried install dgrasp in recent days, so I don't install the previous version.

christsa · 2023-04-08T10:35:06Z

Hm, I haven't seen this issue before. Seems like some issues with libstdc++6
Could you try the following solution (from lhelontra/tensorflow-on-arm#13):

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-4.9
sudo apt install --only-upgrade libstdc++6

xyaochen · 2023-04-08T10:37:15Z

Thanks! I will try it.
Thanks again for your prompt response!

xyaochen · 2023-04-09T08:51:19Z

Thanks for your help! I have set up successfully.
When I evaluate the example

python raisimGymTorch/env/envs/dgrasp_test/runner.py -o 12 -e '021_bleach_dexycb' -sd 'pretrained_policies' -w 'full_3000.pt'

I get the results:

object: 12
success: 0.944
disp mean: 0.422
disp std: 0.684

It seems a little degeneration compared to the results reported. Is it normal?

By the way, I tried to visualize the results. I think I have installed the prerequisite packages successfully. But, after I run the following:

python raisimGymTorch/env/envs/dgrasp_test/runner.py -o 12 -e '021_bleach_dexycb' -sd 'pretrained_policies' -w 'full_3000.pt' -ev

I get:

Traceback (most recent call last):
File "raisimGymTorch/env/envs/dgrasp_test/runner.py", line 256, in env.reset_state(qpos_reset_seq, np.zeros((num_envs,51)), obj_pose_reset_seq) File "/home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/RaisimGymVecEnv.py", line 84, in reset_state self.wrapper.reset_state(init_state, init_vel, obj_pose)
TypeError: reset_state(): incompatible function arguments. The following argument types are supported: 1. (self: raisimGymTorch.env.bin.dgrasp_test.RaisimGymEnv, arg0: numpy.ndarray[numpy.float32[m, n], flags.writeable, flags.c_contiguous], arg1: numpy.ndarray[numpy.float32[m, n], flags.writeable, flags.c_contiguous], arg2: numpy.ndarray[numpy.float32[m, n], flags.writeable, flags.c_contiguous]) -> None

I will appreciate it if you could have a look. And what is the meaning of 'run raisimUnity executable in raisimUnity//RaiSimUnity', could you provide the corresponding command?

christsa · 2023-04-09T17:32:05Z

The slight discrepancy between the results seems normal. It can be due to slight changes in the new version of RaiSim or the different hardware used to run the evaluation.

Well, you need to go to the raisimUnity folder that corresponds to your OS and run the exectuable file for Unity, e.g., this file for Linux. To run an executable, you just double click on the file ;-) On Linux, you may need to first change the permissions via chmod to allow for execution.

Let me know if it works out.

xyaochen · 2023-04-09T18:28:47Z

Thanks for your guidance!

I think I have executed the Unity. But after I run the command

python raisimGymTorch/env/envs/dgrasp/runner_motion.py -o 12 -e '021_bleach_dexycb' -w 'full_3000.pt' -sd -'pretrained_policies' -sv

It is always pending and has endless output 'stored video' on the screen. But I didn't find no video stored.
I notice that "this does not work on headless servers". However, I exactly use the remote servers to run the code.
Is that possible to store the video on server?

christsa · 2023-04-10T18:34:47Z

Glad you got it to work.

Yes, this is expected. Last time I checked RaiSim did not offer headless rendering. For visualization, you need to run it on a local machine. This is however related to the physics simulation and not to the D-Grasp code. Please consult the RaiSim Github directly (this issue here seems related: raisimTech/raisimLib#10).

xyaochen · 2023-04-11T05:59:17Z

Thanks! Your help is always nice and prompt.
By the way, I want to explore the D-Grasp performance under the dynamic motion synthesis task. I have noticed that the final_obj_pos in one sample has small differences. Did these ground-truth labels sampled from a continuous sequence in DexYCB?

christsa · 2023-04-11T10:27:45Z

To try out more difficult labels, you can change the following line in runner_motion.py to:
eval_dict = joblib.load('raisimGymTorch/data/motion_eval_dict_hard.pkl').

The way I created the labels was to add angular noise to the initial poses of the objects and sample the final position from a pre-defined grid.

xyaochen · 2023-04-16T14:00:49Z

Thanks!

I'm confused with 16 hand contact points. Are these the same part as 16 hand joints? What's the meaning of "link_palm_rz", "link_ff_pm_z", etc ?

christsa · 2023-04-17T08:05:45Z

Yes, they are the same parts as the 16 hand joints (without the fingertips).

The names correspond to the collision bodies defined in the mano_mean.urdf file.

The convention I used for naming the finger parts is "pm" primal, "md" medial, and "dd" distal.
"link_palm_rz" is the palm collision body.

xyaochen · 2023-04-17T18:07:15Z

Thanks again! Your reply is always prompt and kind.

I am diving into your code details and I have some questions.

where is the feature extraction layer $\psi(s, T_g, D)$ in motion synthesis? I didn't find it in the model.
the gc_ variable is the current hand pose state. Is it in global coordinate or origin hand coordinate? Is gc_[0:3] the root position and gc_[3:6] the root orientation?
I am a little confused by how the PD controller works. In my understanding, pTarget_ = actionMean_ + predicted_action*scaling, where actionMean_[6: 52] = gc_[6:52] is the current hand joint angles. In traning of motion_synthesis, actionMean_[0:6] = (current relative root 6D pose compared to final pose) + gc_[0:6]. Why is actionMean_[0:6] just the current root 6D pose in testing as in test code? It seems to have a mismatch between training and testing in motion synthesis.

christsa · 2023-04-18T11:49:52Z

These are good questions.

You should find it here.
gc_ is the generalized coordinate in the root frame. In this case, it corresponds to the the origin hand coordinate at the beginning of a sequence, as set here and here.
The referenced "testing" corresponds to the main experiment reported in the paper, which is to test the stability of grasps. To do this the global pose of the hand is fixed and it is evaluated whether the object is grasped without dropping. Therefore, the PD target is set as the current pose once it switches from approaching/grasping to testing.

xyaochen · 2023-04-18T12:01:54Z

I am extremely grateful!

So the motion synthesis module will not be used in testing as the pTarget_[0:6] has been overwritten in here?

christsa · 2023-04-18T12:13:18Z

Correct, in testing, the motion synthesis is not used.

Motion synthesis is run through the dgrasp folder with the runner_motion.py file.

christsa · 2023-04-19T12:35:55Z

Closing this issue here to make it easier to distinguish questions by topic. Feel free to open a new issues if anything is unclear :)

christsa mentioned this issue Apr 17, 2023

Failure of building RaiSim with GLIBC version error #10

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christsa closed this as completed Apr 19, 2023

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Having trouble when 'python setup.py develop' #9

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Having trouble when 'python setup.py develop' #9

Having trouble when 'python setup.py develop' #9

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object: 12 success: 0.944 disp mean: 0.422 disp std: 0.684

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object: 12
success: 0.944
disp mean: 0.422
disp std: 0.684

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