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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
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CentroidalMPC.advance() gets stuck with Ipopt and Mumps #900

Open xela-95 opened 1 month ago

xela-95 commented 1 month ago

Hi, I'm using comodo to perform simulations on JaxSim, since it provides an easy to use interface to blf controllers.

However I'm having some flaky errors (not repeating 100% of the times) in which the BipedalLocomotion::ReducedModelControllers::CentroidalMPC::advance method gets stuck and do not exit anymore (even with ctrl-C). When i go debugging those methods it just logs:

******************************************************************************
This program contains Ipopt, a library for large-scale nonlinear optimization.
 Ipopt is released as open source code under the Eclipse Public License (EPL).
         For more information visit https://github.com/coin-or/Ipopt
******************************************************************************

That method is called in comodo wrapper of the centroidal MPC centroidalMPC.plan_trajectory(): https://github.com/ami-iit/comodo/blob/1130009d6ef0cfa1944495209a15887388faa52d/src/comodo/centroidalMPC/centroidalMPC.py#L36-L57

Have you ever encountered this kind of issue before? What should I try to change?

System info

Library Version
casadi 3.6.5
ipopt 3.14.16
mumps 5.7.3

CC @CarlottaSartore

traversaro commented 1 month ago

Do collect a bit more information, probably you can attach a debugger to the Python process and get a backtrace of the thread that is hanging, to get a bit more context of what is happening. What is the usage of CPU cores? Can you report the full conda environment you are using?

Can you also try to set OMP_NUM_THREADS=1 ? We recently had a mumps packaging regression that seems similar to your problem, see https://github.com/conda-forge/mumps-feedstock/issues/125, https://github.com/ami-iit/bipedal-locomotion-framework/issues/882#issuecomment-2342038009 and the linked issues.

traversaro commented 1 month ago

Also https://github.com/conda-forge/mumps-feedstock/pull/126 seems related.

xela-95 commented 1 month ago

Thanks a lot @traversaro !! Setting OMP_NUM_THREADS=1 seems to have solved the issue! I will monitor the situation and if this problem is still present I will provide further details, otherwise I will close this issue.

What is the usage of CPU cores?

When the code hangs, the CPU usage is 0%, so a deadlock is likely the issue.

Can you report the full conda environment you are using?

I'm using pixi, below you can find my environment:

pixi list

``` Package Version Build Size Kind Source _libgcc_mutex 0.1 conda_forge 2.5 KiB conda _libgcc_mutex-0.1-conda_forge.tar.bz2 _openmp_mutex 4.5 2_gnu 23.1 KiB conda _openmp_mutex-4.5-2_gnu.tar.bz2 absl-py 2.1.0 pyhd8ed1ab_0 104.8 KiB conda absl-py-2.1.0-pyhd8ed1ab_0.conda ace 8.0.1 he02047a_0 5.2 MiB conda ace-8.0.1-he02047a_0.conda adam-robotics 0.3.0 pyh780aa2d_1 43.6 KiB conda adam-robotics-0.3.0-pyh780aa2d_1.conda aiohappyeyeballs 2.4.3 pyhd8ed1ab_0 18.8 KiB conda aiohappyeyeballs-2.4.3-pyhd8ed1ab_0.conda aiohttp 3.10.8 py310ha75aee5_0 708.4 KiB conda aiohttp-3.10.8-py310ha75aee5_0.conda aiosignal 1.3.1 pyhd8ed1ab_0 12.4 KiB conda aiosignal-1.3.1-pyhd8ed1ab_0.tar.bz2 alembic 1.13.3 pyhd8ed1ab_0 155.9 KiB conda alembic-1.13.3-pyhd8ed1ab_0.conda alsa-lib 1.2.12 h4ab18f5_0 542.8 KiB conda alsa-lib-1.2.12-h4ab18f5_0.conda ampl-mp 3.1.0 h2cc385e_1006 1.1 MiB conda ampl-mp-3.1.0-h2cc385e_1006.tar.bz2 anyio 4.6.0 pyhd8ed1ab_1 105.9 KiB conda anyio-4.6.0-pyhd8ed1ab_1.conda aom 3.9.1 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xorg-libxt 1.3.0 hb9d3cd8_2 369.8 KiB conda xorg-libxt-1.3.0-hb9d3cd8_2.conda xorg-libxtst 1.2.5 hb9d3cd8_1 32.1 KiB conda xorg-libxtst-1.2.5-hb9d3cd8_1.conda xorg-libxxf86vm 1.1.5 hb9d3cd8_2 17.9 KiB conda xorg-libxxf86vm-1.1.5-hb9d3cd8_2.conda xorg-util-macros 1.20.1 hb9d3cd8_0 43.5 KiB conda xorg-util-macros-1.20.1-hb9d3cd8_0.conda xorg-xextproto 7.3.0 hb9d3cd8_1004 29.8 KiB conda xorg-xextproto-7.3.0-hb9d3cd8_1004.conda xorg-xf86vidmodeproto 2.3.1 hb9d3cd8_1003 25.3 KiB conda xorg-xf86vidmodeproto-2.3.1-hb9d3cd8_1003.conda xorg-xorgproto 2024.1 hb9d3cd8_1 552.2 KiB conda xorg-xorgproto-2024.1-hb9d3cd8_1.conda xorg-xproto 7.0.31 hb9d3cd8_1008 71.6 KiB conda xorg-xproto-7.0.31-hb9d3cd8_1008.conda xz 5.2.6 h166bdaf_0 408.6 KiB conda xz-5.2.6-h166bdaf_0.tar.bz2 yaml 0.2.5 h7f98852_2 87.1 KiB conda yaml-0.2.5-h7f98852_2.tar.bz2 yarl 1.13.1 py310ha75aee5_0 141.5 KiB conda yarl-1.13.1-py310ha75aee5_0.conda ycm-cmake-modules 0.16.9 h5888daf_0 140.6 KiB conda ycm-cmake-modules-0.16.9-h5888daf_0.conda zeromq 4.3.5 ha4adb4c_5 344.9 KiB conda zeromq-4.3.5-ha4adb4c_5.conda zipp 3.20.2 pyhd8ed1ab_0 20.9 KiB conda zipp-3.20.2-pyhd8ed1ab_0.conda zlib 1.3.1 h4ab18f5_1 90.8 KiB conda zlib-1.3.1-h4ab18f5_1.conda zstandard 0.23.0 py310ha39cb0e_1 398.7 KiB conda zstandard-0.23.0-py310ha39cb0e_1.conda zstd 1.5.6 ha6fb4c9_0 541.8 KiB conda zstd-1.5.6-ha6fb4c9_0.conda ```

traversaro commented 1 month ago

I will monitor the situation and if this problem is still present I will provide further details, otherwise I will close this issue.

The OMP_NUM_THREADS=1 is just a workaround, the issue should not be there in the first place. There are two interesting things that emerges from your pixi list:

traversaro commented 1 month ago

By the way, I tried to reproduce the issue with https://raw.githubusercontent.com/ami-iit/bipedal-locomotion-framework/da3d948990fdab29daf8da9ccb90fb93a093804b/bindings/python/ReducedModelControllers/tests/test_centroidal_mpc.py failing, so if you can provide an easy way to reproduce the issue it would be great.

xela-95 commented 1 month ago

Here is the pixi.toml:

[project]
authors = ["Carlotta Sartore <carlotta.sartore@iit.it>"]
channels = ["conda-forge"]
description = "Suite of parametrized controller with simulation environments for co-design of Humanoid Robots"
name = "comodo"
platforms = ["linux-64"]
version = "0.0.0"
repository = "https://github.com/ami-iit/comodo"
readme = "README.md"
license-file = "LICENSE"

[activation]
# To avoid issue with git-lfs, see https://github.com/prefix-dev/pixi/issues/2000
env = { GIT_LFS_SKIP_SMUDGE = "1" }

[dependencies]
# bipedal-locomotion-framework and manifpy have pinned build dependencies
# due to https://github.com/ami-iit/bipedal-locomotion-framework/issues/885
bipedal-locomotion-framework = { version = "==0.18.0", build = "ha770c72_15" }
manifpy = { version = "==0.0.5", build = "py310hf5d888b_0" }
idyntree = "*"
adam-robotics = "*"
mujoco = "*"
mujoco-python-viewer = "*"
matplotlib = ">=3.9.2,<4"
urllib3 = "*"
urchin = "*"
resolve-robotics-uri-py = "*"
notebook = "*"
rod = "*"
ipykernel = "*"
mesalib = "*"
optuna = ">=4.0.0,<5"
cmaes = ">=0.11.1,<0.12"
plotly = ">=5.24.1,<6"
casadi = "<=3.6.6"
nbformat = ">=5.10.4,<6"
python-kaleido = ">=0.2.1,<0.3"
scikit-learn = ">=1.5.2,<2"
# jaxsim = ">=0.4.2"

[pypi-dependencies]
jaxsim = { git = "https://github.com/ami-iit/jaxsim.git", rev="main", extras = ["all"]}
# jaxsim = { path = "../jaxsim", extras = ["all"] }
urdfmodifiers = { git = "https://github.com/CarlottaSartore/urdf-modifiers.git", rev = "scalar_modification" }
comodo = { path = "./", editable = true }

And here the output of pixi info:

pixi info                                                                                                              1 ✘  38s   13:08:03  
      Pixi version: 0.30.0
          Platform: linux-64
  Virtual packages: __unix=0=0
                  : __linux=6.8.0=0
                  : __glibc=2.39=0
                  : __cuda=12.4=0
                  : __archspec=1=skylake
         Cache dir: /home/acroci/.cache/rattler/cache
      Auth storage: /home/acroci/.rattler/credentials.json
  Config locations: No config files found

Project
------------
              Name: comodo
           Version: 0.0.0
     Manifest file: /home/acroci/repos/comodo/pixi.toml
      Last updated: 07-10-2024 13:07:27

Environments
------------
       Environment: default
          Features: default
          Channels: conda-forge
  Dependency count: 21
      Dependencies: bipedal-locomotion-framework, manifpy, idyntree, adam-robotics, mujoco, mujoco-python-viewer, matplotlib, urllib3, urchin, resolve-robotics-uri-py, notebook, rod, ipykernel, mesalib, optuna, cmaes, plotly, casadi, nbformat, python-kaleido, scikit-learn
 PyPI Dependencies: jaxsim, urdfmodifiers, comodo
  Target platforms: linux-64
traversaro commented 1 month ago

By the way, I tried to reproduce the issue with https://raw.githubusercontent.com/ami-iit/bipedal-locomotion-framework/da3d948990fdab29daf8da9ccb90fb93a093804b/bindings/python/ReducedModelControllers/tests/test_centroidal_mpc.py failing, so if you can provide an easy way to reproduce the issue it would be great.

Sorry, this was not clear perhaps. The reproduction attempt was "failing" as the test was passing and so I "failed" in reproducing the issue.

xela-95 commented 1 month ago

Sorry, this was not clear perhaps. The reproduction attempt was "failing" as the test was passing and so I "failed" in reproducing the issue.

Sure, this is the script I'm testing right now: https://github.com/xela-95/comodo/blob/viscoelastic-simulations/examples/tune_jaxsim_contact_model.py

In order to reproduce the issue just comment out https://github.com/xela-95/comodo/blob/8510ead3e1f3c3361c3852134dfeeb39025bdd2a/examples/tune_jaxsim_contact_model.py#L29 and run it. I usually run it with: pixi run python tune_jaxsim_contact_model.py --trials 10