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hengyuan-hu / monometis

MIT License
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Build issue cuda 12.4 #5

Open richardrl opened 2 weeks ago

richardrl commented 2 weeks ago

Thank you for your work on updating this library. I am trying to use this with a CUDA 12.4 driver. I changed the environment yaml to the following:

Following your build instructions, I got this error:

(/home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy) ➜  polymetis git:(main) ✗ cmake .. -DCMAKE_BUILD_TYPE=Release 
CMake Warning:
  Ignoring extra path from command line:

   ".."

CMake Error: The source directory "/home/ankile/richard/monometis" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
(/home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy) ➜  polymetis git:(main) ✗ ls
build           CPPLINT.cfg          img          package.xml  setup.py
CMakeLists.txt  data                 include      protos       src
conda           environment_cpu.yml  install.sh   pytest.ini   tests
conf            environment.yml      MANIFEST.in  python       torch_isolation
(/home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy) ➜  polymetis git:(main) ✗ cd build
(/home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy) ➜  build git:(main) ✗ cmake .. -DCMAKE_BUILD_TYPE=Release
-- pinocchio FOUND. pinocchio at /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib/libpinocchio.so
-- boost_filesystem FOUND. boost_filesystem at /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib/libboost_filesystem.so
-- boost_serialization FOUND. boost_serialization at /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib/libboost_serialization.so
-- boost_system FOUND. boost_system at /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib/libboost_system.so
-- Found Boost: /usr/include (found version "1.74.0") found components: filesystem serialization system 
-- eigenpy FOUND. eigenpy at /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib/libeigenpy.so
-- hpp-fcl FOUND. hpp-fcl at /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib/libhpp-fcl.so
-- Found Boost: /usr/include (found version "1.74.0")  
CMake Warning at /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib/python3.9/site-packages/torch/share/cmake/Torch/TorchConfig.cmake:22 (message):
  static library kineto_LIBRARY-NOTFOUND not found.
Call Stack (most recent call first):
  /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib/python3.9/site-packages/torch/share/cmake/Torch/TorchConfig.cmake:127 (append_torchlib_if_found)
  torch_isolation/CMakeLists.txt:18 (find_package)

-- Found RE2 via CMake.
-- Configuring done (0.1s)
CMake Warning at CMakeLists.txt:123 (add_executable):
  Cannot generate a safe runtime search path for target run_server because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libz.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib

  Some of these libraries may not be found correctly.

CMake Warning at CMakeLists.txt:127 (add_executable):
  Cannot generate a safe runtime search path for target
  empty_statistics_client because files in some directories may conflict with
  libraries in implicit directories:

    runtime library [libz.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy/lib

  Some of these libraries may not be found correctly.

-- Generating done (0.0s)
-- Build files have been written to: /home/ankile/richard/monometis/polymetis/build
(/home/ankile/richard/micromamba/11142024_py39_hamer_diffusion_policy) ➜  build git:(main) ✗ make -j
[ 22%] Built target generated_grpc_protos
[ 33%] Built target pinocchio_wrapper
[ 44%] Built target empty_statistics_client
[ 50%] Building CXX object torch_isolation/CMakeFiles/torch_server_ops.dir/src/torch_server_ops.cpp.o
[ 55%] Building CXX object torch_isolation/CMakeFiles/torchrot.dir/src/rotations.cpp.o
In file included from /home/ankile/richard/monometis/polymetis/torch_isolation/src/torch_server_ops.cpp:5:
/home/ankile/richard/monometis/polymetis/torch_isolation/include/torch_server_ops.hpp:56:39: error: ‘size_t’ has not been declared
   56 |   TorchScriptedController(char *data, size_t size,
      |                                       ^~~~~~
/home/ankile/richard/monometis/polymetis/torch_isolation/include/torch_server_ops.hpp:64:36: error: ‘size_t’ has not been declared
   64 |   bool param_dict_load(char *data, size_t size);
      |                                    ^~~~~~
/home/ankile/richard/monometis/polymetis/torch_isolation/src/torch_server_ops.cpp:116:1: error: no declaration matches ‘TorchScriptedController::TorchScriptedController(char*, size_t, TorchRobotState&)’
  116 | TorchScriptedController::TorchScriptedController(
      | ^~~~~~~~~~~~~~~~~~~~~~~
/home/ankile/richard/monometis/polymetis/torch_isolation/include/torch_server_ops.hpp:46:22: note: candidates are: ‘constexpr TorchScriptedController::TorchScriptedController(const TorchScriptedController&)’
   46 | class C_TORCH_EXPORT TorchScriptedController {
      |                      ^~~~~~~~~~~~~~~~~~~~~~~
/home/ankile/richard/monometis/polymetis/torch_isolation/include/torch_server_ops.hpp:56:3: note:                 ‘TorchScriptedController::TorchScriptedController(char*, int, TorchRobotState&)’
   56 |   TorchScriptedController(char *data, size_t size,
      |   ^~~~~~~~~~~~~~~~~~~~~~~
/home/ankile/richard/monometis/polymetis/torch_isolation/include/torch_server_ops.hpp:46:22: note: ‘class TorchScriptedController’ defined here
   46 | class C_TORCH_EXPORT TorchScriptedController {
      |                      ^~~~~~~~~~~~~~~~~~~~~~~
/home/ankile/richard/monometis/polymetis/torch_isolation/src/torch_server_ops.cpp:173:6: error: no declaration matches ‘bool TorchScriptedController::param_dict_load(char*, size_t)’
  173 | bool TorchScriptedController::param_dict_load(char *data, size_t size) {
      |      ^~~~~~~~~~~~~~~~~~~~~~~
/home/ankile/richard/monometis/polymetis/torch_isolation/include/torch_server_ops.hpp:64:8: note: candidate is: ‘bool TorchScriptedController::param_dict_load(char*, int)’
   64 |   bool param_dict_load(char *data, size_t size);
      |        ^~~~~~~~~~~~~~~
/home/ankile/richard/monometis/polymetis/torch_isolation/include/torch_server_ops.hpp:46:22: note: ‘class TorchScriptedController’ defined here
   46 | class C_TORCH_EXPORT TorchScriptedController {
      |                      ^~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [torch_isolation/CMakeFiles/torch_server_ops.dir/build.make:76: torch_isolation/CMakeFiles/torch_server_ops.dir/src/torch_server_ops.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:238: torch_isolation/CMakeFiles/torch_server_ops.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 61%] Linking CXX shared library libtorchrot.so
[ 61%] Built target torchrot
make: *** [Makefile:91: all] Error 2

Do you know how to fix this?

Thanks, Richard

richardrl commented 2 weeks ago

I actually got the same error using the original environment.yml in this repo, too

hengyuan-hu commented 2 weeks ago

what's your gcc version? and what's the OS?