Having problem when installing OMG-Planner

[Lingzhi3]

Hi, I hope you are doing good.

When installing OMG-Planner following "example/README.md", I am trying to execute """cmake .. \ -DPYTHON_EXECUTABLE=$VIRTUAL_ENV/bin/python \ -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd )""" in terminal and I have modified "$VIRTUAL_ENV". But two errors occur:

1. CMake Error at CMakeLists.txt:18 (find_package): find_package called with invalid argument "."

2. CMake Error at cmake/FindSIP.cmake:63 (MESSAGE): Could not find SIP Call Stack (most recent call first): CMakeLists.txt:21 (find_package)

Could you please fix it as soon as possible?

[ychao-nvidia]

Thanks for reporting. Can you try using -DPYTHON_LIBRARY instead:

cmake .. \
  -DPYTHON_LIBRARY=/path/to/libpython3.so \
  -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd )

[a5ylum22]

Thanks for reporting. Can you try using -DPYTHON_LIBRARY instead:

cmake .. \
  -DPYTHON_LIBRARY=/path/to/libpython3.so \
  -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd )

Hi, I have used that command above, but it still gave me the same error, could you please tell me how to fix it as soon as possible?

[ychao-nvidia]

Your problem is coming from this line because your cmake cannot find your Python installation. What did you set for -DPYTHON_LIBRARY above?

[a5ylum22]

I used this: cmake .. \ -DPYTHON_LIBRARY=miniconda3/envs/handover/lib/libpython3.so \ -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd ) & this alternatively cmake .. \ -DPYTHON_LIBRARY=miniconda3/envs/handover/lib/libpython3.8.so \ -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd )

I got the error on both of these scripts. I am running WSL2 on win10 with Ubuntu20.04 and CUDA 10.1

[ychao-nvidia]

Can you try using absolute path for -DPYTHON_LIBRARY?

[a5ylum22]

I did, but I am still getting the same error.

[ychao-nvidia]

Can you provide more detail about your environment and steps, or anything that could help reproduce the issue on my end?

[a5ylum22]

Yes, for sure. I created a conda env for running handover sim on my wsl2 system with ubuntu 20.04, I first created the env with python 3.8 and cuda toolkit version 10.1. I then installed handover-sim in that env following the readme on the main page. I then installed the GA-DDPG baseline and was able to run it successfully. I then tried to run OMG Planner and came to this issue here.

https://docs.google.com/document/d/1zAClw-GybUNYRfIu76yz6ABCpCOQ9O93ld-0rDNEvrA/edit?usp=sharing

The link above has my env specs; feel free to look into them and point out any error.

[ychao-nvidia]

I did a run of installing handover-sim + OMG-Planner in a conda env with your setup, and the installation works fine for me. I've tried:

1. cmake without -DPYTHON_EXECUTABLE nor -DPYTHON_LIBRARY.
2. cmake with -DPYTHON_EXECUTABLE.
3. cmake with -DPYTHON_LIBRARY.

All three above worked. Below is my installation script:

git clone --recursive git@github.com:NVlabs/handover-sim.git
cd handover-sim

conda create -p envs python=3.8 nvidia::cudatoolkit=10.1
conda activate ./envs

pip install -e .
pip install --no-deps -e ./mano_pybullet

git clone --recursive https://github.com/liruiw/OMG-Planner.git
cd OMG-Planner
git checkout a3b8b68

sed -i "s/opencv-python==3.4.3.18/opencv-python/g" requirements.txt
sed -i "s/torch==1.4.0/torch/g" requirements.txt
sed -i "s/torchvision==0.4.2/torchvision/g" requirements.txt
pip install -r requirements.txt

cd ycb_render
python setup.py develop
cd ..

git clone https://gitlab.com/libeigen/eigen.git
cd eigen
git checkout 3.4.0
mkdir -p release && mkdir -p build && cd build
cmake .. \
  -DCMAKE_INSTALL_PREFIX=$( cd ../release && pwd )
make -j8
make install
cd ../..

cd Sophus
mkdir -p release && mkdir -p build && cd build
cmake .. \
  -DCMAKE_INSTALL_PREFIX=$( cd ../release && pwd ) \
  -DEIGEN3_INCLUDE_DIR=$( cd ../../eigen/release/include/eigen3 && pwd )
make -j8
make install
cd ../..

cd layers
sed -i "s@/usr/local/include/eigen3\", \"/usr/local/include@$( cd ../eigen/release/include/eigen3 && pwd )\", \"$( cd ../Sophus/release/include && pwd )@g" setup.py
python setup.py install
cd ..

cd orocos_kinematics_dynamics
cd sip-4.19.3
python configure.py
make -j8
make install
cd ../orocos_kdl
mkdir -p release && mkdir -p build && cd build
cmake .. \
  -DCMAKE_INSTALL_PREFIX=$( cd ../release && pwd ) \
  -DEIGEN3_INCLUDE_DIR=$( cd ../../../eigen/release/include/eigen3 && pwd )
make -j8
make install
cd ../../python_orocos_kdl
mkdir -p build && cd build
cmake .. \
  -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd )
make -j8
cp PyKDL.so $CONDA_PREFIX/lib/python3.8/site-packages
cd ../../..

# Download data.

cd ..

Note that in the above I did not set -DPYTHON_EXECUTABLE nor -DPYTHON_LIBRARY for the cmake:

cmake .. \
  -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd )

However, it also works for me if I set either of them like below:

cmake .. \
  -DPYTHON_EXECUTABLE=$CONDA_PREFIX/bin/python3.8 \
  -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd )

cmake .. \
  -DPYTHON_LIBRARY=$CONDA_PREFIX/lib/libpython3.8.so.1.0 \
  -DCMAKE_PREFIX_PATH=$( cd ../../orocos_kdl/release && pwd )

[a5ylum22]

This worked, and I was successfully able to run OMG with only a few tweaks. Thank you for your solution!