Closed swtyree closed 1 year ago
Thank you!
deps/bullet3
are properly fixed in upstream. On the long term I think the real solution is to use another renderer like Panda3D in megapose.urdfdom
dependency.Hi Yann,
Here are the two datasets that I tested:
cosypose.scripts.run_cosypose_eval
; verified that there are no crashes and the scores seem reasonable, but didn't scrutinize the accuracyIs there a dataset that you know failed with prior versions of PyBullet? I can try to test a known failure case. As noted in a reply to #2 (https://github.com/Simple-Robotics/cosypose/issues/2#issuecomment-1397890766), I wasn't able to build the fork in deps/bullet3
, which motivated trying the latest version.
I will try to install the latest pinocchio
and report back about the urdfdom
dependency...
Thank you for your contribution, @swtyree! These environment setup fixes are very useful indeed. The previous setup update was working fine only on Ubuntu 20.04, while yours indeed fixes the setup for Ubuntu 22.04. So I have tested it and the setup is functional. Not only evaluation scripts, but data visualization notebooks are working well as well (which is even more painful in package setup).
The modifications that differ between my fork of bullet and upstream were:
b3ComputeViewMatrixFromYawPitchRoll
function that I had fixed here in my fork. It looks correct in upstream.I am quite confident we can merge your PR now. Thanks again @swtyree !
The current conda environment is a bit brittle and did not work for my system (Ubuntu 22.04, CUDA 11.8, RTX 3090). So I've suggested three changes in this pull request:
torch
andtorchvision
via pippybullet
instead of building./deps/bullet3
urdfdom=1.0.4
to supportpinocchio
I have tested this setup using
cosypose.scripts.run_cosypose_eval
andcosypose.scripts.run_bop_eval
, but it's certainly possible that other scripts may fail. If you have other tests that you would like me to perform to validate this PR, please let me know!