installation

[tomjur]

Hi,

I tried to install on a new conda env by following the installation instructions.

The problem is that when I try to run the example script python legged_gym/scripts/train.py --headless --task a1_field

I get that the numpy version (1.24.5) is calling deprecated functions within the IsaacGym Preview: Traceback (most recent call last): File "legged_gym/legged_gym/scripts/train.py", line 36, in <module> from legged_gym.envs import * File "/home/tomjur/legged_gym/legged_gym/envs/__init__.py", line 33, in <module> from .base.legged_robot import LeggedRobot File "/home/tomjur/legged_gym/legged_gym/envs/base/legged_robot.py", line 37, in <module> from isaacgym.torch_utils import * File "/home/tomjur/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/torch_utils.py", line 135, in <module> def get_axis_params(value, axis_idx, x_value=0., dtype=np.float, n_dims=3): File "/home/tomjur/miniconda3/envs/parkour/lib/python3.8/site-packages/numpy/__init__.py", line 305, in __getattr__ raise AttributeError(__former_attrs__[attr]) AttributeError: module 'numpy' has no attribute 'float'. np.floatwas a deprecated alias for the builtinfloat. To avoid this error in existing code, usefloatby itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, usenp.float64here. The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations

Since the code is within Isaac, I can only solve the issue by changing the numpy version to pre-deprecation (numpy 1.19), but this causes the following error:

Traceback (most recent call last): File "legged_gym/legged_gym/scripts/train.py", line 36, in <module> from legged_gym.envs import * File "/home/tomjur/legged_gym/legged_gym/envs/__init__.py", line 33, in <module> from .base.legged_robot import LeggedRobot File "/home/tomjur/legged_gym/legged_gym/envs/base/legged_robot.py", line 38, in <module> from isaacgym import gymtorch, gymapi, gymutil File "/home/tomjur/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/gymtorch.py", line 109, in <module> _import_gymtorch() File "/home/tomjur/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/gymtorch.py", line 45, in _import_gymtorch gt = torch.utils.cpp_extension.load(name="gymtorch", sources=sources, extra_cflags=cflags, verbose=True) File "/home/tomjur/miniconda3/envs/parkour/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 1124, in load return _jit_compile( File "/home/tomjur/miniconda3/envs/parkour/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 1337, in _jit_compile _write_ninja_file_and_build_library( File "/home/tomjur/miniconda3/envs/parkour/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 1423, in _write_ninja_file_and_build_library check_compiler_abi_compatibility(compiler) File "/home/tomjur/miniconda3/envs/parkour/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 294, in check_compiler_abi_compatibility if not check_compiler_ok_for_platform(compiler): File "/home/tomjur/miniconda3/envs/parkour/lib/python3.8/site-packages/torch/utils/cpp_extension.py", line 254, in check_compiler_ok_for_platform which = subprocess.check_output(['which', compiler], stderr=subprocess.STDOUT) File "/home/tomjur/miniconda3/envs/parkour/lib/python3.8/subprocess.py", line 415, in check_output return run(*popenargs, stdout=PIPE, timeout=timeout, check=True, File "/home/tomjur/miniconda3/envs/parkour/lib/python3.8/subprocess.py", line 516, in run raise CalledProcessError(retcode, process.args, subprocess.CalledProcessError: Command '['which', 'c++']' returned non-zero exit status 1.

Would it be possible for you to publish your pip list? or maybe an updated install script in case the above is out of date?

Thanks, Tom

[ZiwenZhuang]

Yeah, I will update this repo later.

Two options to solve this issue:

1. add np.float = np.float32 at the start of train.py
2. use numpy version of 1.20.1 (hope this will help)

[tomjur]

Thank you for the quick response!

1. This solution did not help. Probably because the problem is not that the code in train.py calls np.float, but rather the code somewhere in Isaac calls np.float (see callstack above) - so if I understand correctly this is not the relevant scope. Right?
2. Using numpy 1.20.1 did not help - gives the same compilation error (second callstack in the previous message).

[ZiwenZhuang]

Yeah... You need to import numpy as np at the first line of train.py. Then, at the second line: np.float = np.float32. Then, import isaacgym, torch, rsl_rl, etc.