Closed xyaochen closed 1 year ago
handover-sim2real
commented
1 year ago Hi,
I have a few questions to better help you debug this:
sudo apt install libeigen3-devThanks, Sammy
xyaochen
commented
1 year ago It seems that I have successfully set up environments.
python setup.py develop_/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( /home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( -- pybind11 v2.9.0 -- raisim: -- Version: 1.1.6 -- Includes: /home/xuanyao/raisim/dgrasp/raisim/linux/include -- Libraries: raisim::raisimPng;raisim::raisimODE;raisim::raisimMine;raisim::raisim raisim os linux raisim arch raisim os linux raisim arch -- Configuring done (0.3s) -- Generating done (0.1s) -- Build files have been written to: /home/xuanyao/raisim/dgrasp/raisimGymTorch/build/temp.linux-x86_64-cpython-38 [100%] Built target dgrasp [100%] Built target dgrasp_test
However, when I try to evaluate:
python raisimGymTorch/env/envs/dgrasp_test/runner.py -o 12 -e '021_bleach_dexycb' -sd 'pretrained_policies' -w 'full_3000.pt' It shows that:
Traceback (most recent call last):
File "raisimGymTorch/env/envs/dgrasp_test/runner.py", line 2, in
Do I have something wrong about my set up or compliration?
xyaochen
commented
1 year ago the libeigen is installed in /usr/include/eigen3, so I change the #include<Eigen/Core> to #include<eigens/Eigen/Core> in some files. I tried install dgrasp in recent days, so I don't install the previous version.
the libeigen is installed in /usr/include/eigen3, so I change the #include<Eigen/Core> to #include<eigens/Eigen/Core> in some files. I tried install dgrasp in recent days, so I don't install the previous version.
christsa
commented
1 year ago Hm, I haven't seen this issue before. Seems like some issues with libstdc++6 Could you try the following solution (from https://github.com/lhelontra/tensorflow-on-arm/issues/13):
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-4.9
sudo apt install --only-upgrade libstdc++6Thanks! I will try it. Thanks again for your prompt response!
xyaochen
commented
1 year ago Thanks for your help! I have set up successfully. When I evaluate the example
python raisimGymTorch/env/envs/dgrasp_test/runner.py -o 12 -e '021_bleach_dexycb' -sd 'pretrained_policies' -w 'full_3000.pt'I get the results:
It seems a little degeneration compared to the results reported. Is it normal?
By the way, I tried to visualize the results. I think I have installed the prerequisite packages successfully. But, after I run the following:
python raisimGymTorch/env/envs/dgrasp_test/runner.py -o 12 -e '021_bleach_dexycb' -sd 'pretrained_policies' -w 'full_3000.pt' -evI get:
I will appreciate it if you could have a look. And what is the meaning of 'run raisimUnity executable in raisimUnity/
christsa
commented
1 year ago The slight discrepancy between the results seems normal. It can be due to slight changes in the new version of RaiSim or the different hardware used to run the evaluation.
Well, you need to go to the raisimUnity folder that corresponds to your OS and run the exectuable file for Unity, e.g., this file for Linux. To run an executable, you just double click on the file ;-) On Linux, you may need to first change the permissions via chmod to allow for execution.
Let me know if it works out.
xyaochen
commented
1 year ago Thanks for your guidance!
I think I have executed the Unity. But after I run the command
python raisimGymTorch/env/envs/dgrasp/runner_motion.py -o 12 -e '021_bleach_dexycb' -w 'full_3000.pt' -sd -'pretrained_policies' -svIt is always pending and has endless output 'stored video' on the screen. But I didn't find no video stored. I notice that "this does not work on headless servers". However, I exactly use the remote servers to run the code. Is that possible to store the video on server?
christsa
commented
1 year ago Glad you got it to work.
Yes, this is expected. Last time I checked RaiSim did not offer headless rendering. For visualization, you need to run it on a local machine. This is however related to the physics simulation and not to the D-Grasp code. Please consult the RaiSim Github directly (this issue here seems related: https://github.com/raisimTech/raisimLib/issues/10).
xyaochen
commented
1 year ago Thanks! Your help is always nice and prompt. By the way, I want to explore the D-Grasp performance under the dynamic motion synthesis task. I have noticed that the final_obj_pos in one sample has small differences. Did these ground-truth labels sampled from a continuous sequence in DexYCB?
christsa
commented
1 year ago To try out more difficult labels, you can change the following line in runner_motion.py to:
eval_dict = joblib.load('raisimGymTorch/data/motion_eval_dict_hard.pkl').
The way I created the labels was to add angular noise to the initial poses of the objects and sample the final position from a pre-defined grid.
xyaochen
commented
1 year ago Thanks!
I'm confused with 16 hand contact points. Are these the same part as 16 hand joints? What's the meaning of "link_palm_rz", "link_ff_pm_z", etc ?
christsa
commented
1 year ago Yes, they are the same parts as the 16 hand joints (without the fingertips).
The names correspond to the collision bodies defined in the mano_mean.urdf file.
The convention I used for naming the finger parts is "pm" primal, "md" medial, and "dd" distal. "link_palm_rz" is the palm collision body.
xyaochen
commented
1 year ago Thanks again! Your reply is always prompt and kind.
I am diving into your code details and I have some questions.
christsa
commented
1 year ago These are good questions.
xyaochen
commented
1 year ago I am extremely grateful!
So the motion synthesis module will not be used in testing as the pTarget_[0:6] has been overwritten in here?
christsa
commented
1 year ago Correct, in testing, the motion synthesis is not used.
Motion synthesis is run through the dgrasp folder with the runner_motion.py file.
christsa
commented
1 year ago Closing this issue here to make it easier to distinguish questions by topic. Feel free to open a new issues if anything is unclear :)
I encountered something wrong when setup DGRASP environment. When I use "python setup.py develop" in raisimGymTorch " /home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( /home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( -- pybind11 v2.9.0 -- raisim: -- Version: 1.1.6 -- Includes: /home/xuanyao/raisim/dgrasp/raisim/linux/include -- Libraries: raisim::raisimPng;raisim::raisimODE;raisim::raisimMine;raisim::raisim raisim os linux raisim arch raisim os linux raisim arch -- Configuring done -- Generating done -- Build files have been written to: /home/xuanyao/raisim/dgrasp/raisimGymTorch/build/temp.linux-x86_64-cpython-38 Consolidate compiler generated dependencies of target dgrasp Consolidate compiler generated dependencies of target dgrasp_test [ 33%] Building CXX object CMakeFiles/dgrasp.dir/raisimGymTorch/env/raisim_gym.cpp.o [ 33%] Building CXX object CMakeFiles/dgrasp_test.dir/raisimGymTorch/env/raisim_gym.cpp.o In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/LU:29, from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:2, from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/math/Core.hpp:12, from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/math.hpp:17, from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/RaiSimTinyXmlWrapper.hpp:14, from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/Materials.hpp:13, from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/contact/BisectionContactSolver.hpp:15, from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/object/Object.hpp:12, from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/World.hpp:13, from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp_test/../../RaisimGymEnv.hpp:13, from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp_test/Environment.hpp:10, from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/raisim_gym.cpp:9: /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h: In static member function ‘static Eigen::Index Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::unblocked_lu(MatrixTypeRef&, PivIndex, PivIndex&)’: /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h:390:24: error: ‘fix’ was not declared in this scope 390 | lu.col(k).tail(fix(rrows)) /= lu.coeff(k,k);
| ^~~
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:30: error: ‘fix’ was not declared in this scope
400 | lu.bottomRightCorner(fix(rrows),fix(rcols)).noalias() -= lu.col(k).tail(fix(rrows)) lu.row(k).tail(fix(rcols));
| ^~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Householder:24,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/QR:15,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:4:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h: In member function ‘typename Eigen::internal::matrix_type_times_scalar_type<typename Eigen::internal::traits<Eigen::HouseholderSequence<VectorsType, CoeffsType, Side> >::Scalar, OtherDerived>::Type Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>::operator(const Eigen::MatrixBase&) const’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:41: error: ‘is_identity’ is not a member of ‘Eigen::internal’
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^::value && res.rows()==res.cols());
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:68: error: ‘::value’ has not been declared
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^~~~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/LU:29,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:2,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/math/Core.hpp:12,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/math.hpp:17,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/RaiSimTinyXmlWrapper.hpp:14,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/Materials.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/contact/BisectionContactSolver.hpp:15,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/object/Object.hpp:12,
from /home/xuanyao/raisim/dgrasp/raisim/linux/include/raisim/World.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp/../../RaisimGymEnv.hpp:13,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp/Environment.hpp:10,
from /home/xuanyao/raisim/dgrasp/raisimGymTorch/raisimGymTorch/env/raisim_gym.cpp:9:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h: In static member function ‘static Eigen::Index Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::unblocked_lu(MatrixTypeRef&, PivIndex , PivIndex&)’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h:390:24: error: ‘fix’ was not declared in this scope
390 | lu.col(k).tail(fix(rrows)) /= lu.coeff(k,k);
| ^~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/QR:37:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h: At global scope:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h:58:27: error: ‘solve_assertion’ in namespace ‘Eigen::internal’ does not name a type
58 | friend struct internal::solve_assertion;
| ^(rrows),fix(rcols)).noalias() -= lu.col(k).tail(fix(rrows)) lu.row(k).tail(fix(rcols));
| ^~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/SVD:36,
from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:5:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:42: error: ‘SVDBase’ was not declared in this scope
22 | template struct traits<SVDBase >
| ^ struct traits<SVDBase >
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:59: error: expected unqualified-id before ‘>’ token
22 | template struct traits<SVDBase >
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:65:27: error: ‘solve_assertion’ in namespace ‘Eigen::internal’ does not name a type
65 | friend struct internal::solve_assertion;
| ^ (const Eigen::MatrixBase&) const’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:41: error: ‘is_identity’ is not a member of ‘Eigen::internal’
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^::value && res.rows()==res.cols());
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:68: error: ‘::value’ has not been declared
427 | applyThisOnTheLeft(res, internal::is_identity::value && res.rows()==res.cols());
| ^~~~~
In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/QR:37:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h: At global scope:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h:58:27: error: ‘solve_assertion’ in namespace ‘Eigen::internal’ does not name a type
58 | friend struct internal::solve_assertion;
| ^ struct traits<SVDBase >
| ^ struct traits<SVDBase >
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:59: error: expected unqualified-id before ‘>’ token
22 | template struct traits<SVDBase >
| ^
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:65:27: error: ‘solve_assertion’ in namespace ‘Eigen::internal’ does not name a type
65 | friend struct internal::solve_assertion;
| ^&)’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h:920:6: error: there are no arguments to ‘EIGEN_CONST_CONDITIONAL’ that depend on a template parameter, so a declaration of ‘EIGEN_CONST_CONDITIONAL’ must be available [-fpermissive]
920 | if(EIGEN_CONST_CONDITIONAL(int(Mode)==int(Projective)))
| ^&)’:
/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h:920:6: error: there are no arguments to ‘EIGEN_CONST_CONDITIONAL’ that depend on a template parameter, so a declaration of ‘EIGEN_CONST_CONDITIONAL’ must be available [-fpermissive]
920 | if(EIGEN_CONST_CONDITIONAL(int(Mode)==int(Projective)))
| ^
setup(
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 185, in setup
return run_commands(dist)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 201, in run_commands
dist.run_commands()
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 969, in run_commands
self.run_command(cmd)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/dist.py", line 1208, in run_command
super().run_command(command)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/develop.py", line 34, in run
self.install_for_development()
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/command/develop.py", line 114, in install_for_development
self.run_command('build_ext')
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
self.distribution.run_command(command)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/dist.py", line 1208, in run_command
super().run_command(command)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "setup.py", line 38, in run
self.build_extension(ext)
File "setup.py", line 66, in build_extension
subprocess.check_call(['cmake', '--build', '.'] + build_args, cwd=self.build_temp)
File "/home/xuanyao/anaconda3/envs/grasp/lib/python3.8/subprocess.py", line 364, in check_call
raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['cmake', '--build', '.', '--config', 'Release', '--', '-j2']' returned non-zero exit status 2.
"
~~/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:65: error: expected primary-expression before ‘>’ token 427 | applyThisOnTheLeft(res, internal::is_identity~~~~~~ /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:30: error: ‘fix’ was not declared in this scope 400 | lu.bottomRightCorner(fix~~ /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:57: error: template argument 1 is invalid 22 | template~~~~~~ In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Householder:24, from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/QR:15, from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:4: /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h: In member function ‘typename Eigen::internal::matrix_type_times_scalar_type<typename Eigen::internal::traits<Eigen::HouseholderSequence<VectorsType, CoeffsType, Side> >::Scalar, OtherDerived>::Type Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>::operator~~/home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:427:65: error: expected primary-expression before ‘>’ token 427 | applyThisOnTheLeft(res, internal::is_identity~~~~~~ In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/SVD:36, from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:5: /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:42: error: ‘SVDBase’ was not declared in this scope 22 | template~~ /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/SVD/SVDBase.h:22:57: error: template argument 1 is invalid 22 | template~~~~~~ In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Geometry:44, from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:6: /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h: In member function ‘Eigen::Transform<Scalar, Dim, Mode, Options>& Eigen::Transform<Scalar, Dim, Mode, _Options>::pretranslate(const Eigen::MatrixBase~~~~~~ /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h:920:6: note: (if you use ‘-fpermissive’, G++ will accep your code, but allowing the use of an undeclared name is deprecated) In file included from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Geometry:44, from /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/Dense:6: /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h: In member function ‘Eigen::Transform<Scalar, Dim, Mode, Options>& Eigen::Transform<Scalar, Dim, Mode, _Options>::pretranslate(const Eigen::MatrixBase~~~~~~ /home/xuanyao/raisim/dgrasp/thirdParty/Eigen3/include/eigen3/Eigen/src/Geometry/Transform.h:920:6: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) make[2]: [CMakeFiles/dgrasp_test.dir/build.make:76: CMakeFiles/dgrasp_test.dir/raisimGymTorch/env/raisim_gym.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:102: CMakeFiles/dgrasp_test.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... make[2]: [CMakeFiles/dgrasp.dir/build.make:76: CMakeFiles/dgrasp.dir/raisimGymTorch/env/raisim_gym.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:128: CMakeFiles/dgrasp.dir/all] Error 2 make: [Makefile:91: all] Error 2 Traceback (most recent call last): File "setup.py", line 68, inI've been struggling with this issue for a few days now and I would really appreciate it if someone could take a look and offer some guidance on how to resolve it. Thank you in advance!