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ami-iit / comodo

Suite of parametrized controller with simulation environments for co-design of Humanoid Robots
BSD 3-Clause "New" or "Revised" License
15 stars 4 forks source link

`drake_walking` example notebook errors #27

Open xela-95 opened 2 days ago

xela-95 commented 2 days ago

I tried to run the https://github.com/ami-iit/comodo/blob/main/examples/drake_walking.ipynb example notebook from the main branch, and I'm getting the following error:

# Modify the robot model and initialize
create_urdf_instance.modify_lengths(modifications)
urdf_robot_string = create_urdf_instance.write_urdf_to_file()
create_urdf_instance.reset_modifications()
robot_model_init = RobotModel(urdf_robot_string, "stickBot", joint_name_list)
s_des, xyz_rpy, H_b = robot_model_init.compute_desired_position_walking()
robot_model_init.set_foot_corner(
    np.asarray([0.1, 0.05, 0.0]),
    np.asarray([0.1, -0.05, 0.0]),
    np.asarray([-0.1, -0.05, 0.0]),
    np.asarray([-0.1, 0.05, 0.0]),
)

In order to make the notebook run I had to add this statement, after the s_des, xyz_rpy, H_b = robot_model_init.compute_desired_position_walking() :

robot_model_init.set_foot_corner(
    np.asarray([0.1, 0.05, 0.0]),
    np.asarray([0.1, -0.05, 0.0]),
    np.asarray([-0.1, -0.05, 0.0]),
    np.asarray([-0.1, 0.05, 0.0]),
)

System info

I'm using bipedal-locomotion-framework==0.19.0 and drake==1.34.0

Conda list

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beautifulsoup4 4.12.3 pyha770c72_0 conda-forge bipedal-locomotion-framework 0.19.0 ha770c72_5 conda-forge bipedal-locomotion-framework-python 0.19.0 py310hdd7d4c4_5 conda-forge bleach 6.1.0 pyhd8ed1ab_0 conda-forge blosc 1.21.6 hef167b5_0 conda-forge brotli 1.1.0 hb9d3cd8_2 conda-forge brotli-bin 1.1.0 hb9d3cd8_2 conda-forge brotli-python 1.1.0 py310hf71b8c6_2 conda-forge bzip2 1.0.8 h4bc722e_7 conda-forge c-ares 1.34.2 heb4867d_0 conda-forge ca-certificates 2024.8.30 hbcca054_0 conda-forge cached-property 1.5.2 hd8ed1ab_1 conda-forge cached_property 1.5.2 pyha770c72_1 conda-forge cairo 1.18.0 hebfffa5_3 conda-forge casadi 3.6.7 py310h23aa882_0 conda-forge certifi 2024.8.30 pyhd8ed1ab_0 conda-forge cffi 1.17.1 py310h8deb56e_0 conda-forge cftime 1.6.4 py310hf462985_1 conda-forge charset-normalizer 3.4.0 pyhd8ed1ab_0 conda-forge chex 0.1.87 pyhd8ed1ab_0 conda-forge cli11 2.4.1 h59595ed_0 conda-forge colorama 0.4.6 pyhd8ed1ab_0 conda-forge coloredlogs 15.0.1 pyhd8ed1ab_3 conda-forge comm 0.2.2 pyhd8ed1ab_0 conda-forge comodo 0.0.1 dev_0 console_bridge 1.0.2 h924138e_1 conda-forge contourpy 1.3.0 py310h3788b33_2 conda-forge cppad 20240000.7 h5888daf_1 conda-forge cpython 3.10.15 py310hd8ed1ab_2 conda-forge cudatoolkit 11.8.0 h4ba93d1_13 conda-forge cycler 0.12.1 pyhd8ed1ab_0 conda-forge dataclasses 0.8 pyhc8e2a94_3 conda-forge dav1d 1.2.1 hd590300_0 conda-forge dbus 1.13.6 h5008d03_3 conda-forge debugpy 1.8.7 py310hf71b8c6_0 conda-forge decorator 5.1.1 pyhd8ed1ab_0 conda-forge defusedxml 0.7.1 pyhd8ed1ab_0 conda-forge docstring_parser 0.16 pyhd8ed1ab_0 conda-forge double-conversion 3.3.0 h59595ed_0 conda-forge drake 1.34.0 pypi_0 pypi eigen 3.4.0 h00ab1b0_0 conda-forge elfutils 0.192 h1fa0c75_0 conda-forge entrypoints 0.4 pyhd8ed1ab_0 conda-forge etils 1.10.0 pyhd8ed1ab_0 conda-forge exceptiongroup 1.2.2 pyhd8ed1ab_0 conda-forge executing 2.1.0 pyhd8ed1ab_0 conda-forge expat 2.6.3 h5888daf_0 conda-forge ffmpeg 6.1.2 gpl_hdfc89ed_706 conda-forge filelock 3.16.1 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libopenvino-hetero-plugin 2024.4.0 h3f63f65_1 conda-forge libopenvino-intel-cpu-plugin 2024.4.0 hac27bb2_1 conda-forge libopenvino-intel-gpu-plugin 2024.4.0 hac27bb2_1 conda-forge libopenvino-intel-npu-plugin 2024.4.0 hac27bb2_1 conda-forge libopenvino-ir-frontend 2024.4.0 h3f63f65_1 conda-forge libopenvino-onnx-frontend 2024.4.0 he882d9a_1 conda-forge libopenvino-paddle-frontend 2024.4.0 he882d9a_1 conda-forge libopenvino-pytorch-frontend 2024.4.0 h5888daf_1 conda-forge libopenvino-tensorflow-frontend 2024.4.0 h9718a47_1 conda-forge libopenvino-tensorflow-lite-frontend 2024.4.0 h5888daf_1 conda-forge libopus 1.3.1 h7f98852_1 conda-forge libosqp 0.6.3 h5888daf_1 conda-forge libpciaccess 0.18 hd590300_0 conda-forge libpng 1.6.44 hadc24fc_0 conda-forge libpq 16.4 h2d7952a_3 conda-forge libprotobuf 5.27.5 h5b01275_2 conda-forge libqdldl 0.1.7 hcb278e6_0 conda-forge libre2-11 2024.07.02 hbbce691_1 conda-forge librealsense 2.54.2 py310h2ab81a5_1_cuda conda-forge librobometry 1.2.4 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conda-forge wheel 0.44.0 pyhd8ed1ab_0 conda-forge wslink 2.2.1 pyhd8ed1ab_0 conda-forge x264 1!164.3095 h166bdaf_2 conda-forge x265 3.5 h924138e_3 conda-forge xcb-util 0.4.1 hb711507_2 conda-forge xcb-util-cursor 0.1.5 hb9d3cd8_0 conda-forge xcb-util-image 0.4.0 hb711507_2 conda-forge xcb-util-keysyms 0.4.1 hb711507_0 conda-forge xcb-util-renderutil 0.3.10 hb711507_0 conda-forge xcb-util-wm 0.4.2 hb711507_0 conda-forge xkeyboard-config 2.43 hb9d3cd8_0 conda-forge xmltodict 0.14.2 pyhd8ed1ab_0 conda-forge xorg-glproto 1.4.17 hb9d3cd8_1003 conda-forge xorg-libice 1.1.1 hb9d3cd8_1 conda-forge xorg-libsm 1.2.4 he73a12e_1 conda-forge xorg-libx11 1.8.10 h4f16b4b_0 conda-forge xorg-libxau 1.0.11 hb9d3cd8_1 conda-forge xorg-libxdamage 1.1.6 hb9d3cd8_0 conda-forge xorg-libxdmcp 1.1.5 hb9d3cd8_0 conda-forge xorg-libxext 1.3.6 hb9d3cd8_0 conda-forge xorg-libxfixes 6.0.1 hb9d3cd8_0 conda-forge xorg-libxi 1.8.2 hb9d3cd8_0 conda-forge xorg-libxinerama 1.1.5 h5888daf_1 conda-forge xorg-libxrandr 1.5.4 hb9d3cd8_0 conda-forge xorg-libxrender 0.9.11 hb9d3cd8_1 conda-forge xorg-libxt 1.3.0 hb9d3cd8_2 conda-forge xorg-libxtst 1.2.5 hb9d3cd8_3 conda-forge xorg-libxxf86vm 1.1.5 hb9d3cd8_4 conda-forge xorg-xextproto 7.3.0 hb9d3cd8_1004 conda-forge xorg-xf86vidmodeproto 2.3.1 hb9d3cd8_1004 conda-forge xorg-xorgproto 2024.1 hb9d3cd8_1 conda-forge xz 5.2.6 h166bdaf_0 conda-forge yaml 0.2.5 h7f98852_2 conda-forge yarl 1.15.5 py310ha75aee5_0 conda-forge ycm-cmake-modules 0.16.9 h5888daf_0 conda-forge zeromq 4.3.5 h3b0a872_6 conda-forge zipp 3.20.2 pyhd8ed1ab_0 conda-forge zlib 1.3.1 hb9d3cd8_2 conda-forge zstandard 0.23.0 py310ha39cb0e_1 conda-forge zstd 1.5.6 ha6fb4c9_0 conda-forge ```

xela-95 commented 2 days ago

xref: #23 in which I'm getting the same results also with an environment installed with pixi.