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Unknown collision detector[bullet] #1079

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yangyanzhe opened this issue Jul 10, 2018 · 13 comments
Closed

Unknown collision detector[bullet] #1079

yangyanzhe opened this issue Jul 10, 2018 · 13 comments

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@yangyanzhe
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Environment

DART version: 6.4.0
OS: macOS Sierra 10.13.5

I installed the dart from source following the instructions here: https://dartsim.github.io/install_dart_on_mac.html.

When I run the tutorialBiped-Finished, the messages are shown as follows. Does it matter? I checked bullet and it has already been installed.

Warning [Factory-impl.hpp:168] [Factory] Failed to create an object of 'N4dart9collision17CollisionDetectorE' class with the key (type: 'NSt3__112basic_stringIcNS_11char_traitsIcEENS_9allocatorIcEEEE'). Returning nullptr instead.
Warning [SkelParser.cpp:753] Unknown collision detector[bullet]. Default collision detector[fcl_mesh] will be loaded.
Warning [Factory-impl.hpp:168] [Factory] Failed to create an object of 'N4dart9collision17CollisionDetectorE' class with the key (type: 'NSt3__112basic_stringIcNS_11char_traitsIcEENS_9allocatorIcEEEE'). Returning nullptr instead.
Warning [SkelParser.cpp:753] Unknown collision detector[bullet]. Default collision detector[fcl_mesh] will be loaded.
Warning [SkelParser.cpp:1854] [SkelParser] <damping> tag is now an element under the <dynamics> tag. Please see (https://github.com/dartsim/dart/wiki/) for more details.
Warning [SkelParser.cpp:1854] [SkelParser] <damping> tag is now an element under the <dynamics> tag. Please see (https://github.com/dartsim/dart/wiki/) for more details.
Warning [SkelParser.cpp:1854] [SkelParser] <damping> tag is now an element under the <dynamics> tag. Please see (https://github.com/dartsim/dart/wiki/) for more details.
Warning [SkelParser.cpp:1854] [SkelParser] <damping> tag is now an element under the <dynamics> tag. Please see (https://github.com/dartsim/dart/wiki/) for more details.
Warning [SkelParser.cpp:1854] [SkelParser] <damping> tag is now an element under the <dynamics> tag. Please see (https://github.com/dartsim/dart/wiki/) for more details.
Warning [SkelParser.cpp:1854] [SkelParser] <damping> tag is now an element under the <dynamics> tag. Please see (https://github.com/dartsim/dart/wiki/) for more details.
@jslee02
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jslee02 commented Jul 10, 2018

It seems Bullet is not correctly detected by CMake. Could you rerun CMake with -DDART_VERBOSE=ON (e.g., cmake .. -DDART_VERBOSE=ON) and paste the output?

@yangyanzhe
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Thanks for the prompt reply. Here is the output for

 cmake .. -DART_VERBOSE=ON

Output:

-- The C compiler identification is AppleClang 9.1.0.9020039
-- The CXX compiler identification is AppleClang 9.1.0.9020039
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- 
-- ============================================
--                 DART 6.4.0
-- ============================================
-- Found EIGEN3: /usr/local/include/eigen3 (found suitable version "3.3.4", minimum required is "3.0.5") 
-- Found CCD: /usr/local/Cellar/libccd/2.0_3/include (found suitable version "2.0", minimum required is "1.4.0") 
-- Found FCL: /usr/local/Cellar/fcl/0.5.0_1/include (found suitable version "0.5.0", minimum required is "0.2.9") 
-- Found ASSIMP: /usr/local/Cellar/assimp/4.1.0/include (found suitable version "4.1.0", minimum required is "3.0.0") 
-- Performing Test ASSIMP_AISCENE_CTOR_DTOR_DEFINED
-- Performing Test ASSIMP_AISCENE_CTOR_DTOR_DEFINED - Success
-- Performing Test ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED
-- Performing Test ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED - Success
-- Looking for doxygen - NOT found, to use generating API documentation, please install doxygen
-- Looking for ipopt - NOT found, to use dart-optimizer-ipopt, please install ipopt
-- Performing Test BT_USE_DOUBLE_PRECISION
-- Performing Test BT_USE_DOUBLE_PRECISION - Failed
-- Adding 12 components including the default component 'dart'
-- Adding 42 tests (comprehensive: 15, regression: 4, unit: 23)
CMake Warning at examples/humanJointLimits/InSourceBuild.cmake:11 (find_package):
  By not providing "FindTinyDNN.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "TinyDNN", but
  CMake did not find one.

  Could not find a package configuration file provided by "TinyDNN" with any
  of the following names:

    TinyDNNConfig.cmake
    tinydnn-config.cmake

  Add the installation prefix of "TinyDNN" to CMAKE_PREFIX_PATH or set
  "TinyDNN_DIR" to a directory containing one of the above files.  If
  "TinyDNN" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  examples/humanJointLimits/CMakeLists.txt:4 (include)


-- Adding 26 examples
-- Adding 8 tutorials
-- Formatting on 12 source files.
-- Looking for clang-format - NOT found, please install clang-format to enable automatic code formatting
-- 
-- Run 'make' to build all the components
-- Run 'make tests' to build all the unittests
-- Run 'make examples' to build all the examples
-- Run 'make tutorials' to build all the tutorials
-- Run 'make view_docs' to see the API documentation
-- 
-- Configuring done
CMake Warning:
  Value of collision_bullet_headers contained a newline; truncating


CMake Warning:
  Value of collision_dart_headers contained a newline; truncating


CMake Warning:
  Value of collision_fcl_headers contained a newline; truncating


CMake Warning:
  Value of collision_headers contained a newline; truncating


CMake Warning:
  Value of collision_ode_headers contained a newline; truncating


CMake Warning:
  Value of common_headers contained a newline; truncating


CMake Warning:
  Value of constraint_headers contained a newline; truncating


CMake Warning:
  Value of dynamics_headers contained a newline; truncating


CMake Warning:
  Value of gui_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_render_headers contained a newline; truncating


CMake Warning:
  Value of integration_headers contained a newline; truncating


CMake Warning:
  Value of lcpsolver_headers contained a newline; truncating


CMake Warning:
  Value of math_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_nlopt_headers contained a newline; truncating


CMake Warning:
  Value of planning_headers contained a newline; truncating


CMake Warning:
  Value of simulation_headers contained a newline; truncating


CMake Warning:
  Value of utils_headers contained a newline; truncating


CMake Warning:
  Value of utils_sdf_headers contained a newline; truncating


CMake Warning:
  Value of utils_urdf_headers contained a newline; truncating


CMake Warning (dev):
  Policy CMP0042 is not set: MACOSX_RPATH is enabled by default.  Run "cmake
  --help-policy CMP0042" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

  MACOSX_RPATH is not specified for the following targets:

   example_wamIk

This warning is for project developers.  Use -Wno-dev to suppress it.

-- Generating done
CMake Warning:
  Manually-specified variables were not used by the project:

    ART_VERBOSE


CMake Warning:
  Value of collision_bullet_headers contained a newline; truncating


CMake Warning:
  Value of collision_dart_headers contained a newline; truncating


CMake Warning:
  Value of collision_fcl_headers contained a newline; truncating


CMake Warning:
  Value of collision_headers contained a newline; truncating


CMake Warning:
  Value of collision_ode_headers contained a newline; truncating


CMake Warning:
  Value of common_headers contained a newline; truncating


CMake Warning:
  Value of constraint_headers contained a newline; truncating


CMake Warning:
  Value of dynamics_headers contained a newline; truncating


CMake Warning:
  Value of gui_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_render_headers contained a newline; truncating


CMake Warning:
  Value of integration_headers contained a newline; truncating


CMake Warning:
  Value of lcpsolver_headers contained a newline; truncating


CMake Warning:
  Value of math_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_nlopt_headers contained a newline; truncating


CMake Warning:
  Value of planning_headers contained a newline; truncating


CMake Warning:
  Value of simulation_headers contained a newline; truncating


CMake Warning:
  Value of utils_headers contained a newline; truncating


CMake Warning:
  Value of utils_sdf_headers contained a newline; truncating


CMake Warning:
  Value of utils_urdf_headers contained a newline; truncating


-- Build files have been written to: /Users/XXX/project/dart/build

@jslee02
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jslee02 commented Jul 10, 2018

Hm, that's weird. It seems Bullet is correctly found, but somehow the collision detector factory doesn't work for Bullet. Let me test it on my Mac when I get home.

The warning message says DART falls back to using FCL, which is the default collision detector of DART, instead of the specified Bullet. This shouldn't be a problem except it generally generates more contact points.

@jslee02 jslee02 mentioned this issue Jul 11, 2018
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@jslee02
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jslee02 commented Jul 11, 2018

This should be fixed by #1080. Thanks for the report!

@yangyanzhe
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yangyanzhe commented Sep 18, 2018 •
edited
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Environment:
Dart 6.6.1
Cmake 3.12.2
Ubuntu 16.04

Hi, I am installing dart 6.6.1 from source with cmake 3.12.2 on an Ubuntu 16.04, but encounter the same problem:

Warning [Factory-impl.hpp:168] [Factory] Failed to create an object of 'N4dart9collision17CollisionDetectorE' class with the key (type: 'NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE'). Returning nullptr instead.
Warning [SkelParser.cpp:753] Unknown collision detector[bullet]. Default collision detector[fcl_mesh] will be loaded.
Warning [Factory-impl.hpp:168] [Factory] Failed to create an object of 'N4dart9collision17CollisionDetectorE' class with the key (type: 'NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE'). Returning nullptr instead.
Warning [SkelParser.cpp:753] Unknown collision detector[bullet]. Default collision detector[fcl_mesh] will be loaded.

But it seems the "collision-bullet" has already been stated as a dependency in the CMakeLists.txt. Is there any suggestions on how to resolve it?

@yangyanzhe yangyanzhe reopened this Sep 18, 2018
@yangyanzhe
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The log for running

cmake .. -DART_VERBOSE=ON

Output:

-- ============================================
--                 DART 6.6.1
-- ============================================
-- Looking for doxygen - NOT found, to use generating API documentation, please install doxygen
CMake Warning (dev) at /opt/cmake/cmake-3.12.2-Linux-x86_64/share/cmake-3.12/Modules/FindOpenGL.cmake:270 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  FindOpenGL found both a legacy GL library:

    OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

  and GLVND libraries for OpenGL and GLX:

    OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
    OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

  OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
  compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
  dart/gui/CMakeLists.txt:6 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Adding 13 components including the default component 'dart'
-- Adding 42 tests (comprehensive: 15, regression: 4, unit: 23)
CMake Warning at examples/humanJointLimits/InSourceBuild.cmake:11 (find_package):
  By not providing "FindTinyDNN.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "TinyDNN", but
  CMake did not find one.

  Could not find a package configuration file provided by "TinyDNN" with any
  of the following names:

    TinyDNNConfig.cmake
    tinydnn-config.cmake

  Add the installation prefix of "TinyDNN" to CMAKE_PREFIX_PATH or set
  "TinyDNN_DIR" to a directory containing one of the above files.  If
  "TinyDNN" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  examples/humanJointLimits/CMakeLists.txt:4 (include)


-- Adding 26 examples
-- Adding 8 tutorials
-- Formatting on 22 source files.
-- Looking for clang-format - NOT found, please install clang-format to enable automatic code formatting
-- 
-- Run 'make' to build all the components
-- Run 'make tests' to build all the unittests
-- Run 'make examples' to build all the examples
-- Run 'make tutorials' to build all the tutorials
-- Run 'make view_docs' to see the API documentation
-- 
-- Configuring done
CMake Warning:
  Value of collision_bullet_headers contained a newline; truncating


CMake Warning:
  Value of collision_dart_headers contained a newline; truncating


CMake Warning:
  Value of collision_fcl_headers contained a newline; truncating


CMake Warning:
  Value of collision_headers contained a newline; truncating


CMake Warning:
  Value of collision_ode_headers contained a newline; truncating


CMake Warning:
  Value of common_headers contained a newline; truncating


CMake Warning:
  Value of constraint_headers contained a newline; truncating


CMake Warning:
  Value of dynamics_headers contained a newline; truncating


CMake Warning:
  Value of gui_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_render_headers contained a newline; truncating


CMake Warning:
  Value of integration_headers contained a newline; truncating


CMake Warning:
  Value of lcpsolver_headers contained a newline; truncating


CMake Warning:
  Value of math_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_ipopt_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_nlopt_headers contained a newline; truncating


CMake Warning:
  Value of planning_headers contained a newline; truncating


CMake Warning:
  Value of simulation_headers contained a newline; truncating


CMake Warning:
  Value of utils_headers contained a newline; truncating


CMake Warning:
  Value of utils_sdf_headers contained a newline; truncating


CMake Warning:
  Value of utils_urdf_headers contained a newline; truncating


-- Generating done
CMake Warning:
  Manually-specified variables were not used by the project:

    ART_VERBOSE


CMake Warning:
  Value of collision_bullet_headers contained a newline; truncating


CMake Warning:
  Value of collision_dart_headers contained a newline; truncating


CMake Warning:
  Value of collision_fcl_headers contained a newline; truncating


CMake Warning:
  Value of collision_headers contained a newline; truncating


CMake Warning:
  Value of collision_ode_headers contained a newline; truncating


CMake Warning:
  Value of common_headers contained a newline; truncating


CMake Warning:
  Value of constraint_headers contained a newline; truncating


CMake Warning:
  Value of dynamics_headers contained a newline; truncating


CMake Warning:
  Value of gui_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_render_headers contained a newline; truncating


CMake Warning:
  Value of integration_headers contained a newline; truncating


CMake Warning:
  Value of lcpsolver_headers contained a newline; truncating


CMake Warning:
  Value of math_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_ipopt_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_nlopt_headers contained a newline; truncating


CMake Warning:
  Value of planning_headers contained a newline; truncating


CMake Warning:
  Value of simulation_headers contained a newline; truncating


CMake Warning:
  Value of utils_headers contained a newline; truncating


CMake Warning:
  Value of utils_sdf_headers contained a newline; truncating


CMake Warning:
  Value of utils_urdf_headers contained a newline; truncating


-- Build files have been written to: /home/XXX/Applications/dart/build

@jslee02
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jslee02 commented Sep 19, 2018

Which executable are you running?

Btw, you should add D between - and the CMake option name as:

cmake .. -DDART_VERBOSE=ON

Note there are two Ds.

@jslee02 jslee02 mentioned this issue Sep 19, 2018
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@yangyanzhe
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yangyanzhe commented Sep 19, 2018 •
edited
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Thanks for pointing it out. The output for running:

cmake .. -DDART_VERBOSE=ON

Output:

--
-- ============================================
--                 DART 6.6.1
-- ============================================
--
-- [ Mandatory dependencies for DART core ]
-- Looking for eigen3 - version 3.2.92 found
-- Looking for libccd - version 2.0 found
-- Looking for fcl - version 0.3.2 found
-- Looking for assimp - version 3.2.0 found
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   regex
--   system
--   filesystem
-- Looking for octomap - version 1.6.8 found
-- Looking for PerlModules - NOT found, to colorize gcc messages, please install Regexp::Common Getopt::ArgvFile Getopt::Long Term::ANSIColor (http://www.cpan.org/modules/INSTALL.html)
-- Looking for doxygen - NOT found, to use generating API documentation, please install doxygen
--
-- [ Build summary ]
-- CMAKE_GENERATOR  : Unix Makefiles
-- Compiler ID      : GNU
-- Compiler version : 5.4.0

-- Build type       : Release
-- BUILD_SHARED_LIBS: ON
-- ENABLE_OPENMP    : ON
-- Build gui::osg   : ON
-- Install path     : /usr/local
-- CXX_FLAGS        :  -Wall -Wextra -fPIC -std=c++11
-- CXX_FLAGS_RELEASE: -O3 -DNDEBUG
-- CMAKE_SOURCE_DIR : /home/XXX/Applications/dart
-- CMAKE_BINARY_DIR : /home/XXX/Applications/dart/build
-- Looking for ipopt - version 3.11.9 found
-- Looking for nlopt - version 2.4.2 found
-- Looking for ode - version 0.13 found
-- Looking for Bullet - found (single precision)
-- Looking for flann - version 1.8.4 found
-- Looking for tinyxml2 - version 2.2.0 found
-- Looking for urdfdom - 0.4.0 found
-- /home/XXX/Applications/dart/build/dart/utils/urdf/BackwardCompatibility.hpp
CMake Warning (dev) at /opt/cmake/cmake-3.12.2-Linux-x86_64/share/cmake-3.12/Modules/FindOpenGL.cmake:270 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  FindOpenGL found both a legacy GL library:

    OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

  and GLVND libraries for OpenGL and GLX:

    OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
    OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

  OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
  compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
  dart/gui/CMakeLists.txt:6 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Looking for OpenGL - version  found
-- Looking for freeglut3 - version  found
-- Looking for OpenSceneGraph - 3.2.1 found
-- /home/XXX/Applications/dart/build/dart/config.hpp
--
-- [ Components ]
-- Adding component: external-imgui
-- Adding component: external-lodepng
-- Adding component: external-odelcpsolver
-- Adding component: dart
-- Adding component: optimizer-ipopt
-- Adding component: optimizer-nlopt
-- Adding component: collision-ode
-- Adding component: collision-bullet
-- Adding component: planning
-- Adding component: utils
-- Adding component: utils-urdf
-- Adding component: gui
-- Adding component: gui-osg
--
-- [ Tests ]
-- Adding test: comprehensive/test_Building
-- Adding test: comprehensive/test_Common
-- Adding test: comprehensive/test_Concurrency
-- Adding test: comprehensive/test_Constraint
-- Adding test: comprehensive/test_Frames
-- Adding test: comprehensive/test_InverseKinematics
-- Adding test: comprehensive/test_NameManagement
-- Adding test: comprehensive/test_Distance
-- Adding test: comprehensive/test_Collision
-- Adding test: comprehensive/test_Dynamics
-- Adding test: comprehensive/test_Joints
-- Adding test: comprehensive/test_Skeleton
-- Adding test: comprehensive/test_SoftDynamics
-- Adding test: comprehensive/test_World
-- Adding test: comprehensive/test_ForwardKinematics
-- Adding test: regression/test_Issue000Template
-- Adding test: regression/test_Issue838
-- Adding test: regression/test_Issue895
-- Adding test: regression/test_Issue986
-- Adding test: unit/test_Aspect
-- Adding test: unit/test_ContactConstraint
-- Adding test: unit/test_Factory
-- Adding test: unit/test_GenericJoints
-- Adding test: unit/test_Geometry
-- Adding test: unit/test_Lemke
-- Adding test: unit/test_LocalResourceRetriever
-- Adding test: unit/test_Math
-- Adding test: unit/test_Optimizer
-- Adding test: unit/test_ScrewJoint
-- Adding test: unit/test_Signal
-- Adding test: unit/test_Subscriptions
-- Adding test: unit/test_Uri
-- Adding test: unit/test_CompositeResourceRetriever
-- Adding test: unit/test_DartResourceRetriever
-- Adding test: unit/test_FileInfoWorld
-- Adding test: unit/test_PackageResourceRetriever
-- Adding test: unit/test_SdfParser
-- Adding test: unit/test_SkelParser
-- Adding test: unit/test_VskParser
-- Adding test: unit/test_DartLoader
-- Adding test: unit/test_IkFast
-- Adding test: unit/test_NearestNeighbor
CMake Warning at examples/humanJointLimits/InSourceBuild.cmake:11 (find_package):
  By not providing "FindTinyDNN.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "TinyDNN", but
  CMake did not find one.

  Could not find a package configuration file provided by "TinyDNN" with any
  of the following names:

    TinyDNNConfig.cmake
    tinydnn-config.cmake

  Add the installation prefix of "TinyDNN" to CMAKE_PREFIX_PATH or set
  "TinyDNN_DIR" to a directory containing one of the above files.  If
  "TinyDNN" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  examples/humanJointLimits/CMakeLists.txt:4 (include)


--
-- [ Examples ]
-- Adding example: addDeleteSkels
-- Adding example: atlasSimbicon
-- Adding example: bipedStand
-- Adding example: hardcodedDesign
-- Adding example: hybridDynamics
-- Adding example: jointConstraints
-- Adding example: mixedChain
-- Adding example: operationalSpaceControl
-- Adding example: rigidChain
-- Adding example: rigidCubes
-- Adding example: rigidLoop
-- Adding example: rigidShapes
-- Adding example: simpleFrames
-- Adding example: softBodies
-- Adding example: speedTest
-- Adding example: vehicle
-- Adding example: osgAtlasPuppet
-- Adding example: osgAtlasSimbicon
-- Adding example: osgDragAndDrop
-- Adding example: osgEmpty
-- Adding example: osgHuboPuppet
-- Adding example: osgImGui
-- Adding example: osgOperationalSpaceControl
-- Adding example: osgSoftBodies
-- Adding example: osgTinkertoy
-- Adding example: osgWamIkFast
--
-- [ Tutorials ]
-- Adding tutorial: tutorialBiped
-- Adding tutorial: tutorialBiped-Finished
-- Adding tutorial: tutorialCollisions
-- Adding tutorial: tutorialCollisions-Finished
-- Adding tutorial: tutorialDominoes
-- Adding tutorial: tutorialDominoes-Finished
-- Adding tutorial: tutorialMultiPendulum
-- Adding tutorial: tutorialMultiPendulum-Finished
--
-- [ Configured files ]
-- /home/XXX/Applications/dart/build/DARTConfig.cmake
-- /home/XXX/Applications/dart/build/cmake/DARTConfigVersion.cmake
-- /home/XXX/Applications/dart/build/cmake/dart.pc
--
-- [ Code Formatting ]
-- Formatting on 22 source files.
-- Looking for clang-format - NOT found, please install clang-format to enable automatic code formatting
--
-- Run 'make' to build all the components
-- Run 'make tests' to build all the unittests
-- Run 'make examples' to build all the examples
-- Run 'make tutorials' to build all the tutorials
-- Run 'make view_docs' to see the API documentation
--
-- Configuring done
CMake Warning:
  Value of collision_bullet_headers contained a newline; truncating


CMake Warning:
  Value of collision_dart_headers contained a newline; truncating


CMake Warning:
  Value of collision_fcl_headers contained a newline; truncating


CMake Warning:
  Value of collision_headers contained a newline; truncating


CMake Warning:
  Value of collision_ode_headers contained a newline; truncating


CMake Warning:
  Value of common_headers contained a newline; truncating


CMake Warning:
  Value of constraint_headers contained a newline; truncating


CMake Warning:
  Value of dynamics_headers contained a newline; truncating


CMake Warning:
  Value of gui_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_render_headers contained a newline; truncating


CMake Warning:
  Value of integration_headers contained a newline; truncating


CMake Warning:
  Value of lcpsolver_headers contained a newline; truncating


CMake Warning:
  Value of math_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_ipopt_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_nlopt_headers contained a newline; truncating


CMake Warning:
  Value of planning_headers contained a newline; truncating


CMake Warning:
  Value of simulation_headers contained a newline; truncating


CMake Warning:
  Value of utils_headers contained a newline; truncating


CMake Warning:
  Value of utils_sdf_headers contained a newline; truncating


CMake Warning:
  Value of utils_urdf_headers contained a newline; truncating


-- Generating done
CMake Warning:
  Value of collision_bullet_headers contained a newline; truncating


CMake Warning:
  Value of collision_dart_headers contained a newline; truncating


CMake Warning:
  Value of collision_fcl_headers contained a newline; truncating


CMake Warning:
  Value of collision_headers contained a newline; truncating


CMake Warning:
  Value of collision_ode_headers contained a newline; truncating


CMake Warning:
  Value of common_headers contained a newline; truncating


CMake Warning:
  Value of constraint_headers contained a newline; truncating


CMake Warning:
  Value of dynamics_headers contained a newline; truncating


CMake Warning:
  Value of gui_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_headers contained a newline; truncating


CMake Warning:
  Value of gui_osg_render_headers contained a newline; truncating


CMake Warning:
  Value of integration_headers contained a newline; truncating


CMake Warning:
  Value of lcpsolver_headers contained a newline; truncating


CMake Warning:
  Value of math_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_ipopt_headers contained a newline; truncating


CMake Warning:
  Value of optimizer_nlopt_headers contained a newline; truncating


CMake Warning:
  Value of planning_headers contained a newline; truncating


CMake Warning:
  Value of simulation_headers contained a newline; truncating


CMake Warning:
  Value of utils_headers contained a newline; truncating


CMake Warning:
  Value of utils_sdf_headers contained a newline; truncating


CMake Warning:
  Value of utils_urdf_headers contained a newline; truncating

@jslee02
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jslee02 commented Sep 21, 2018

Thanks! It seems bullet is detected and built with DART. But I'm still wondering which executable (example) are you running. Whichever it is, please make sure dart-collision-bullet target is linked to the executable.

@yangyanzhe
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yangyanzhe commented Sep 21, 2018 •
edited
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Thanks! It seems bullet is detected and built with DART. But I'm still wondering which executable (example) are you running. Whichever it is, please make sure dart-collision-bullet target is linked to the executable.

It is tutorialBiped-Finished. It seems the "collision-bullet" has already been stated as a dependency in the CMakeLists.txt. I also tried to change ${DART_LIBRARIES} to be
dart dart-collision-bullet dart-utils-urdf dart-gui. That doesn't help as well. That is weird to me actually.

@jslee02
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jslee02 commented Sep 21, 2018

I see. It seems the current Factory implementation doesn't work as expected. This needs to be fixed.

Could you use the following code to change the collision detector in the meantime?

world->getConstraintSolver()->setCollisionDetector(
      std::make_shared<dart::collision::BulletCollisionDetector>());

@yangyanzhe
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yangyanzhe commented Sep 21, 2018 •
edited
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Thanks! I changed the collision detector to be

world->getConstraintSolver()->setCollisionDetector(
      std::make_shared<dart::collision::BulletCollisionDetector>());

and compiled it with adding

#include <dart/collision/bullet/BulletCollisionDetector.hpp>

at the header and moving the constructer of BulletCollisionDetector from protected to public.

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jslee02 commented Sep 21, 2018

and moving the constructer of BulletCollisionDetector from protected to public

Oh, my code snippet was incorrect. You should be able to create bullet collision detector as:

world->getConstraintSolver()->setCollisionDetector(
      dart::collision::BulletCollisionDetector::create());

without changing the code.

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