AttributeError: 'DifferentialActionDataContactFwdDynamics' object has no attribute 'contacts'

julesser commented 4 years ago

Hi, python bipedal_walk.py successfully runs. When adding the display argument for visualization, the following error occurs:

File "bipedal_walk.py", line 72, in ddp[i].solve(xs, us, 100, False, 0.1) File "/opt/openrobots/lib/python3.6/site-packages/crocoddyl/init.py", line 158, in call self.visualization.displayFromSolver(solver) File "/opt/openrobots/lib/python3.6/site-packages/crocoddyl/init.py", line 91, in displayFromSolver fs = self.getForceTrajectoryFromSolver(solver) File "/opt/openrobots/lib/python3.6/site-packages/crocoddyl/init.py", line 121, in getForceTrajectoryFromSolver for key, contact in data.differential.contacts.contacts.items(): AttributeError: 'DifferentialActionDataContactFwdDynamics' object has no attribute 'contacts'

cmastalli commented 4 years ago

Hi @julesser,

Thanks for showing interests in our software. Hopefully, you could contribute to our effort.

To display any example, you need to launch the gepetto-gui in another terminal. For doing so, you need to do:

install gepetto-viewer with osg-dae plugin (needed for robots with DAE meshes)
type the command gepetto-gui

I will close this issue. Feel free to open or ask for more questions here!

Quick suggestion -- There are additional examples in the devel branch, soon we will make a new release to robotpkg.

julesser commented 4 years ago

@cmastalli thanks for the quick following up. As you suggested in #678 I already installed the gepetto viewer and successfully could display some examples, e.g. python3 double_pendulum.py display works fine. Nevertheless some examples fail with the display option, for example the bipedal_walk as mentioned above. Any idea on how to properly handle the "contact" attribute error?

guru-florida commented 4 years ago

I am also getting the same error on biped_walk. ty

Using robotpkg37 installation, and also built from source successfully, but examples don't run.

cmastalli commented 4 years ago

Are you running the gepetto viewer? The error message is due to it does not find it.

Additionally, a recent modification in example-robot-data triggers another error. Please update this package to v3.1.2..

New releases are going to appear soon.

julesser commented 4 years ago

I am running the gepetto viewer and have updated all packages to the newest version, i.e. the robot data to v3.1.2.
The 'contacts' error message still remains the same.

cmastalli commented 4 years ago

How did you install gepetto viewer? from robotpkg binaries? If so, do you have ubuntu 16.04? Are you having the same display problem in other examples?

I am asking all these questions because I believe gepetto-viewer from Ubuntu 16.04 binaries is not compatible (old version) to the Crocoddyl display.

guru-florida commented 4 years ago

Hi cmastalli. Thanks for your time! I cannot seem to get the biped_walk to work. I have gepettogui running, when running biped_walk I for a second see the talos hips, then it flickers to only its foot(?), then crashes.

I am using python3.7 on Ubuntu19 on amd64
I installed via apt install robotpkg-py37-crocoddyl, robotpkg-py37-qt4-gepetto-viewer-corba, robotpkg-osg-dae
strangely, robotpkg-osg-dae is installed but gepettogui only lists OmniORB Server in plugins...I expected DAE plugin here. FindPlugins button doesnt find it and in fact "dpkg -L robotpkg-osg-dae" doesnt list any .so or python file...only a bunch of doc files and a few include ones. Only a pkgconfig file is installed in the /opt/openrobots/lib dir.
I did a pprint(vars(data.differential)) on the line 123 error in the output and it returns an empty {} .... there is no contacts.contacts.items() on the object.
The robotpkg-py37-crocoddyl package does not install the /examples files...so I am running the examples from a github checkout...tried both master and devel branches.
examples do run without display
The double_pendulum and quadrotor seemed to work, arm_manipulation and quadruped ones also produce an error.

The entire output of bipedal_walk is:

guru@Kuba:~/src/crocoddyl/examples$ python3 bipedal_walk.py display plot
*** SOLVE walking ***
iter     cost         stop      grad      xreg        ureg   step    feas
   0  1.09774e+06  2.54565e+11  8.12082e+07  1.00000e-02  1.00000e-02   1.0000     1
   1  2.15012e+05  2.35119e+13  2.18849e+06  1.00000e-03  1.00000e-03   1.0000     1
   2  4.72918e+03  6.26126e+12  4.24250e+05  1.00000e-04  1.00000e-04   1.0000     1
   3  2.87295e+03  6.44189e+10  3.72378e+03  1.00000e-05  1.00000e-05   1.0000     1
{}
Traceback (most recent call last):
  File "bipedal_walk.py", line 73, in <module>
    ddp[i].solve(xs, us, 1000, False, 0.1)
  File "/opt/openrobots/lib/python3.7/site-packages/crocoddyl/__init__.py", line 160, in __call__
    self.visualization.displayFromSolver(solver)
  File "/opt/openrobots/lib/python3.7/site-packages/crocoddyl/__init__.py", line 92, in displayFromSolver
    fs = self.getForceTrajectoryFromSolver(solver)
  File "/opt/openrobots/lib/python3.7/site-packages/crocoddyl/__init__.py", line 123, in getForceTrajectoryFromSolver
    for key, contact in data.differential.contacts.contacts.items():
AttributeError: 'DifferentialActionDataContactFwdDynamics' object has no attribute 'contacts'

This is the output from the gepetto viewer. The code in bipedal_walk.py suggests that it loads the robot example file, is this correct? Or do I need to first load the talos robot in gepetto? Not sure why the iostream error, file not found maybe?

guru@Kuba:~/src/crocoddyl$ gepetto-gui 
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
List of GroupNodes :
   crocoddyl
   gepetto-gui
   hpp-gui
BOX does not exist.: iostream error
BOX does not exist.: iostream error
CYLINDER does not exist.: iostream error
CYLINDER does not exist.: iostream error
CYLINDER does not exist.: iostream error
CYLINDER does not exist.: iostream error
BOX does not exist.: iostream error
Node "world/robot/collisions/leg_left_6_link_0" does not exist.
Node "world/robot/collisions/leg_right_6_link_0" does not exist.
Node "world/robot/collisions/wrist_left_ft_link_0" does not exist.
Node "world/robot/collisions/wrist_left_ft_tool_link_0" does not exist.
Node "world/robot/collisions/wrist_right_ft_link_0" does not exist.
Node "world/robot/collisions/wrist_right_ft_tool_link_0" does not exist.
Node "world/robot/collisions/rgbd_link_0" does not exist.
You must initialize a Geode on world/robot/visuals/base_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_left_1_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_left_2_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_left_3_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_left_4_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_left_5_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_left_6_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_right_1_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_right_2_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_right_3_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_right_4_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_right_5_link_0 to use Alpha
You must initialize a Geode on world/robot/visuals/leg_right_6_link_0 to use Alpha

guru-florida commented 4 years ago

FYI I compiled osg-dae from source and it does in fact create a so file. So it seems the robotpkg-osg-dae package is missing the target artifact. I was able to install the so file but gepetto gui doesnt like it. It finds it but says "unknown error" trying to load it.

osg-dae build steps (in git cloned osg-dae dir):

git submodule update --init
mkdir build && cd build
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig
cmake -DCMAKE_INSTALL_PREFIX=/opt/openrobots  ..
make
sudo make install

julesser commented 4 years ago

I am using python3.6.9 on Ubuntu18.04
I installed via apt install robotpkg-py36-crocoddyl, robotpkg-py36-qt4-gepetto-viewer-corba

The following examples are displayed successfully:

python3 arm_manipulation.py display
python3 double_pendulum.py display
python3 quadrotor.py display
python3 quadrotor_ubound.py display

These one fail with the error message stated above:

python3 bipedal_walk.py display
python3 bipedal_walk_ubound.py display
python3 humanoid_manipulation.py display
python3 quadrupedal_gaits.py display
python3 quadrupedal_walk_ubound.py display

julesser commented 4 years ago

These show even other error messages without the display option (new issue or related to current issue?)

python3 boxfddp_vs_boxddp.py

Traceback (most recent call last): File "boxfddp_vs_boxddp.py", line 46, in boxfddp = crocoddyl.SolverBoxFDDP( AttributeError: module 'crocoddyl' has no attribute 'SolverBoxFDDP'

- python3 humanoid_manipulation_ubound.py
- python3 humanoid_taichi.py

File "humanoid_manipulation_ubound.py", line 126, in ddp = crocoddyl.SolverBoxFDDP(problem) AttributeError: module 'crocoddyl' has no attribute 'SolverBoxFDDP'

cmastalli commented 4 years ago

I think you guys might have an installation issue. Probably it is related to Python version.

Please install again Crocoddyl and double check that you're using the right version of Python. For instance, it could be that you install Crocoddyl using Python 2.

julesser commented 4 years ago

I've tried some modifications regarding the python version to use:

Reinstalled binaries for python3.6.9 (sudo apt install robotpkg-py36-crocoddyl, robotpkg-py36-qt4-gepetto-viewer-corba) and call example via python3 bipedal_walk.py display.
Completely removed robotpkg and installed binaries for python2.7.17 (sudo apt install robotpkg-py27-crocoddyl, robotpkg-py27-qt4-gepetto-viewer-corba) and call example via python bipedal_walk.py display.

Error message concerning "no attribute contacts'' still appears. Other ideas what could cause the problem?

cmastalli commented 4 years ago

The problem is we didn't release this code yet. So you need:

to remove robotpkg-py36-crocoddyl
to install crocoddyl by source

In any case I am trying to make a new release of Crocoddyl. It could take around a week from now.

julesser commented 4 years ago

Ok, thanks for the effort put in so far. In order to get things running now, I

removed robotpkg-py36-crocoddyl
will install crocoddyl by source executing the following steps in the cloned crocoddyl dir
```
git submodule update --init
mkdir build && cd build
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig
cmake -DCMAKE_INSTALL_PREFIX=/opt/openrobots  ..
make
sudo make install
```
The related question is: How can I make shure to install it with the python 3.6 bindings instead of python 2.7?

julesser commented 4 years ago

Following the build process stated above for the latest devel branch of crocoddyl, the make command returns an error:

.....
-DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=0 -o CMakeFiles/crocoddyl.dir/multibody/actions/impulse-fwddyn.cpp.o -c /home//########/crocoddyl/src/multibody/actions/impulse-fwddyn.cpp
//########/crocoddyl/src/multibody/actions/impulse-fwddyn.cpp: In constructor ‘Eigen::internal::evaluator_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<Eigen::Block<Eigen::Matrix<double, 6, -1, 0, 6, -1>, 6, 1, true> >, 1, 6, true> >, const Eigen::Block<const Eigen::Matrix<double, 6, 6, 0, 6, 6>, 6, 1, true> > >::evaluator_base()’:
/home//########/crocoddyl/src/multibody/actions/impulse-fwddyn.cpp:184:1: internal compiler error: Segmentation fault
 }  // namespace crocoddyl
 ^
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
src/CMakeFiles/crocoddyl.dir/build.make:1409: recipe for target 'src/CMakeFiles/crocoddyl.dir/multibody/actions/impulse-fwddyn.cpp.o' failed
make[2]: *** [src/CMakeFiles/crocoddyl.dir/multibody/actions/impulse-fwddyn.cpp.o] Error 1
make[2]: Leaving directory '/home//########/crocoddyl/build'
CMakeFiles/Makefile2:2587: recipe for target 'src/CMakeFiles/crocoddyl.dir/all' failed
make[1]: *** [src/CMakeFiles/crocoddyl.dir/all] Error 2
make[1]: Leaving directory '/home//########/crocoddyl/build'
Makefile:143: recipe for target 'all' failed
make: *** [all] Error 2

cmastalli commented 4 years ago

How can I make shure to install it with the python 3.6 bindings instead of python 2.7?

You need to properly define the PYTHONPATH. The you need to run the right python interpreter each time that you call a script.

cmastalli commented 4 years ago

..... -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=0 -o CMakeFiles/crocoddyl.dir/multibody/actions/impulse-fwddyn.cpp.o -c /home//########/crocoddyl/src/multibody/actions/impulse-fwddyn.cpp //########/crocoddyl/src/multibody/actions/impulse-fwddyn.cpp: In constructor ‘Eigen::internal::evaluator_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<Eigen::Block<Eigen::Matrix<double, 6, -1, 0, 6, -1>, 6, 1, true> >, 1, 6, true> >, const Eigen::Block<const Eigen::Matrix<double, 6, 6, 0, 6, 6>, 6, 1, true> > >::evaluator_base()’: /home//########/crocoddyl/src/multibody/actions/impulse-fwddyn.cpp:184:1: internal compiler error: Segmentation fault } // namespace crocoddyl ^ Please submit a full bug report, with preprocessed source if appropriate. See file:///usr/share/doc/gcc-7/README.Bugs for instructions. src/CMakeFiles/crocoddyl.dir/build.make:1409: recipe for target 'src/CMakeFiles/crocoddyl.dir/multibody/actions/impulse-fwddyn.cpp.o' failed make[2]: [src/CMakeFiles/crocoddyl.dir/multibody/actions/impulse-fwddyn.cpp.o] Error 1 make[2]: Leaving directory '/home//########/crocoddyl/build' CMakeFiles/Makefile2:2587: recipe for target 'src/CMakeFiles/crocoddyl.dir/all' failed make[1]: [src/CMakeFiles/crocoddyl.dir/all] Error 2 make[1]: Leaving directory '/home//########/crocoddyl/build' Makefile:143: recipe for target 'all' failed make: *** [all] Error 2

We are unit testing our code under your setup: Ubuntu 18.04. Do you install multiple versions of Eigen? Which version did you install? @nim65s do you any idea what could be the possible sources of this compilation problem?

julesser commented 4 years ago

You need to properly define the PYTHONPATH. The you need to run the right python interpreter each time that you call a script.

Okay, if that's all there is to do I'm on the right track.

julesser commented 4 years ago

From the previous binary installation of robotpkg-py36-crocoddyl the following dependencies are still installed: robotpkgs

Additionally I can find libeigen3-dev installed in version 3.3.4-4 (for the case that's relevant for you).

cmastalli commented 4 years ago

Could be that you are running out of RAM? Did you try to compile few times with a single thread (or less threads)?

cmastalli commented 4 years ago

@julesser did you solve your compilation issue? If not, we have just released the binaries of v1.1.0. It contains all the modifications needed for running all examples and notebooks.

guru-florida commented 4 years ago

Sweet!!! :) I can confirm the updated release packages (robotpkg/python37) run the Talos biped walking simulation!

FYI I just read your whitepaper from last month on using HPP Loco3D + Crocoddyl to create a database memory of joint trajectories for warm starts....very interesting. I had a similar idea I called "shape memory" or kinesthetic memory that is much the same idea. I wasn't sure how I was going to tie the memory into the humanoid dynamics though....so good timing in my case! :)

~~I do get an error at the end, but completes about 7 leg cycles before doing so, so I am not worried about it.~~ Disregard, call to plotSolution() changed and I didnt update my examples working directory to latest. doh

julesser commented 4 years ago

@cmastalli Compiling the the most current sources (this morning) worked fine. Displaying with bipedal walking of the Talos legs runs successfully with the updated release packages (robotpkg/python36). Thanks a lot for taking care and your great support :-)

cmastalli commented 4 years ago

Sweet!!! :) I can confirm the updated release packages (robotpkg/python37) run the Talos biped walking simulation!

FYI I just read your whitepaper from last month on using HPP Loco3D + Crocoddyl to create a database memory of joint trajectories for warm starts....very interesting. I had a similar idea I called "shape memory" or kinesthetic memory that is much the same idea. I wasn't sure how I was going to tie the memory into the humanoid dynamics though....so good timing in my case! :)

~I do get an error at the end, but completes about 7 leg cycles before doing so, so I am not worried about it.~ Disregard, call to plotSolution() changed and I didnt update my examples working directory to latest. doh

Crocoddyl is a core toolbox for our EU project called MEMMO (stands for Memory of Motion). For more details visit https://www.memmo-project.eu/.

cmastalli commented 4 years ago

Happy to know that the code works for both :)

loco-3d / crocoddyl

AttributeError: 'DifferentialActionDataContactFwdDynamics' object has no attribute 'contacts' #680