Open AlexanderKhazatsky opened 1 year ago
This seems to work for me, and pip
does not seem to complain about any specific version incompatibilities.
$ python3 -m venv dmr
$ source dmr/bin/activate
pip install dm_robotics-transformations \
dm_robotics-geometry \
dm_robotics-agentflow \
dm_robotics-manipulation \
dm_robotics-moma \
dm_robotics-controllers \
dm_control
(the above does result in mujoco==2.3.2
being installed as well)
Please could you include more specific details about the issue you're facing?
It does technically install. But then why I try to use the 6 dof cartesian IK I get errors.
Please could you provide a minimal repro and any error messages you get while running it?
Is this still an issue - if not I will close early 2024.
The issue still exists. I recently encountered the same situation when I pip install dependencies in the following order:
dm-control
dm-robotics-moma
dm-robotics-manipulation
tensorflow
dm-reverb
opencv-python
typing-extensions
When I run test scenarios, an error occured:
Traceback (most recent call last):
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/runpy.py", line 196, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/runpy.py", line 86, in _run_code
exec(code, run_globals)
File "/home/root/dataset/environment/rgbStacking/rgb_stacking-main/rgb_stacking/main.py", line 116, in <module>
app.run(main)
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/absl/app.py", line 308, in run
_run_main(main, args)
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/absl/app.py", line 254, in _run_main
sys.exit(main(argv))
File "/home/root/dataset/environment/rgbStacking/rgb_stacking-main/rgb_stacking/main.py", line 85, in main
with environment.rgb_stacking(object_triplet=_OBJECT_TRIPLET.value) as env:
File "/home/root/dataset/environment/rgbStacking/rgb_stacking-main/rgb_stacking/environment.py", line 169, in rgb_stacking
task_env = env_builder.build_base_env()
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_robotics/moma/subtask_env_builder.py", line 83, in build_base_env
self._base_env = composer.Environment(self._task,
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_control/composer/environment.py", line 347, in __init__
super().__init__(
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_control/composer/environment.py", line 226, in __init__
self._recompile_physics_and_update_observables()
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_control/composer/environment.py", line 246, in _recompile_physics_and_update_observables
self._hooks.after_compile(self._physics_proxy, self._random_state)
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_control/composer/environment.py", line 118, in after_compile
self._task.after_compile(physics, random_state)
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_robotics/moma/base_task.py", line 200, in after_compile
ef.after_compile(self.root_entity.mjcf_model.root)
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_robotics/moma/effectors/constrained_actions_effectors.py", line 110, in after_compile
self._delegate.after_compile(mjcf_model)
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_robotics/moma/effectors/cartesian_4d_velocity_effector.py", line 150, in after_compile
self._effector_6d.after_compile(mjcf_model)
File "/home/root/anaconda3/envs/rgbstacking/lib/python3.10/site-packages/dm_robotics/moma/effectors/cartesian_6d_velocity_effector.py", line 372, in after_compile
self._qp_mapper = _CartesianVelocityMapper(qp_params)
RuntimeError: ValidateParameters: `joint_ids` must only contain 1 DoF joints. Number of joints [7]; number of DoF [9].
This error doesn't occur if the dependencies are installed by following order:
dm-robotics-moma
dm-robotics-transformations
dm-robotics-agentflow
dm-robotics-geometry
dm-robotics-manipulation
dm-robotics-controllers
dm-control
tensorflow
dm-reverb
opencv-python
typing-extensions
Hope you guys find out why it happens and fix it :)
This package is awesome, but particularly finnicky with version issues relating to mujoco and dm_control. I have to install it in my repo in the following manner to avoid bugs: https://github.com/AlexanderKhazatsky/R2D2
It would be great if it could be made more easily compatible :)