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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
146 stars 37 forks source link

Error with python bindings #885

Closed xela-95 closed 4 days ago

xela-95 commented 5 days ago

I have an issue quite similar to the one had by @CarlottaSartore in #629 .

I have a pixi environment created from the following pixi.toml:

[project]
authors = ["Alessandro Croci <alessandro.croci@iit.it>"]
channels = ["conda-forge"]
description = "Add a short description here"
name = "component_parallel-differentiable-simulations"
platforms = ["linux-64"]
version = "0.1.0"

[tasks]

[dependencies]
bipedal-locomotion-framework = "*"
jaxsim = "*"
casadi = "==3.6.5"
numpy = "*"
mujoco = "*"
idyntree = "*"
adam-robotics = "*"
liecasadi = "*"
loop-rate-limiters = "*"
ipython = "*"
resolve-robotics-uri-py = "*"
ergocub-software = "*"
python = "*"

When I try to import the blf python bindings via

import bipedal_locomotion_framework.bindings as blf

I get the following error:

Traceback (most recent call last):
  File "/home/acroci/repos/component_parallel-differentiable-simulations/src/debug.py", line 1, in <module>
    import bipedal_locomotion_framework.bindings as blf
  File "/home/acroci/repos/component_parallel-differentiable-simulations/.pixi/envs/default/lib/python3.12/site-packages/bipedal_locomotion_framework/__init__.py", line 1, in <module>
    from .bindings import *
ImportError: arg(): could not convert default argument 'mixed_velocity: manif::SE3Tangent<double>' in method '<class 'bipedal_locomotion_framework.bindings.ik.SE3Task'>.set_set_point' into a Python object (type not registered yet?)

The versions of blf and and manif are:

bipedal-locomotion-framework          0.18.0        ha770c72_15                  9.1 KiB     conda  bipedal-locomotion-framework-0.18.0-ha770c72_15.conda
bipedal-locomotion-framework-python   0.18.0        py312h6834624_15             595.6 KiB   conda  bipedal-locomotion-framework-python-0.18.0-py312h6834624_15.conda
libbipedal-locomotion-framework       0.18.0        h7f52459_15                  1.9 MiB     conda  libbipedal-locomotion-framework-0.18.0-h7f52459_15.conda
manif                                 0.0.5         h5888daf_2                   63.3 KiB    conda  manif-0.0.5-h5888daf_2.conda
manifpy                               0.0.5         py312h39a7861_2              580.5 KiB   conda  manifpy-0.0.5-py312h39a7861_2.conda

CC @traversaro

xela-95 commented 5 days ago

Here's the pixi.lock file:

Details

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traversaro commented 5 days ago

Unfortunately you hit https://github.com/conda-forge/pybind11-feedstock/issues/77 . In a nutshell, pybind11 compiled bindings have a hidden dependency (not handled by conda) on the major GCC version used to compile them, and you are mixing blf compiled with GCC 12 with manif compiled with GCC 13. There is any reason you need casadi 3.6.5 and 3.6.6 is not ok? If indeed you need casadi 3.6.5, you can try with earlier build of manifpy until it works (I am on a mobile so I can't easily check which version of manifpy was compiled with GCC 12 and which one by GCC 13.

traversaro commented 4 days ago

Ok, I have access to a laptop now.

This are the GCC versions used by blf

blf version GCC version Reference
0.19.0=*_0 13 https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/81
0.18.0=*_16 13 https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/79
0.18.0=*_15 12 https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/79

These the one used by manifpy:

manifpy version GCC version Reference
0.0.5=*_2 13 https://github.com/conda-forge/manif-feedstock/pull/50/files
0.0.5=*_1 13 https://github.com/conda-forge/manif-feedstock/pull/48
0.0.5=*_0 12 https://github.com/conda-forge/manif-feedstock/pull/48

So, if you need to use casadi 3.5.5, please pin manifpy to 0.0.5=*_0 .

xela-95 commented 4 days ago

Thank you so much @traversaro, pinning manifpy to 0.0.5=*_0 solved the issue!

Just as a side note, I was able to configure a conda environment by pinning the manifpy version just using conda, not using pixi since I was not able to pin the build version (either from CLI or updating pixi.toml).

traversaro commented 4 days ago

Just as a side note, I was able to configure a conda environment by pinning the manifpy version just using conda, not using pixi since I was not able to pin the build version (either from CLI or updating pixi.toml).

I guess something like: 

manifpy = {version = "0.0.5", build = "*_0"}

Should work on pixi?

xela-95 commented 4 days ago

I guess something like:

manifpy = {version = "0.0.5", build = "*_0"}

Should work on pixi?

Yep that syntax put in the pixi.toml worked!