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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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gepetto-gui core dumps on Ubuntu 18.04 #774

Closed GlenHenshaw closed 4 years ago

GlenHenshaw commented 4 years ago

robotpkg wants to install gepetto-viewer=4.4, but gepetto-viewer-corab requires gepetto-viewer=4.2.

Manually specifying gepetto-viewer=4.2 installs fine, but trying to run gepetto-gui results in:

Gtk-Message: 15:47:42.823: Failed to load module "canberra-gtk-module"
libpng warning: iCCP: known incorrect sRGB profile
terminate called after throwing an instance of 'CORBA::TRANSIENT'
Aborted (core dumped)
nim65s commented 4 years ago

Hi @GlenHenshaw gepetto-viewer 4.4 is really old. I think you are looking for sudo apt install robotpkg-py27-qt4-gepetto-viewer-corba You can adapt your python version, but for Qt, we are still bound to ubuntu's packaging of OSG with only qt4.

GlenHenshaw commented 4 years ago

I'm just barely starting to learn about robotpkg, but I have a fresh Ubuntu 18.04 install and I installed the current robotpkg from their apt repository. And 4.4 is what it wants to install.

Building everything from source -- all the urdfdom dependencies, then gepetto -- seems to work. But the instructions indicate you can install via robotpkg, and that doesn't appear to work at least for me.

I'm not trying to do anything exotic, just get the examples running...

GlenHenshaw commented 4 years ago

On the other hand, installing from source and then trying to run one of the crocoddyl exaples gives me this:

python -m crocoddyl.examples.quadrupedal_gaits "display" "plot"
*** SOLVE walking ***
Traceback (most recent call last):
  File "/home/glenhenshaw/anaconda3/envs/crocoddyl/lib/python3.6/runpy.py", line 193, in _run_module_as_main
"__main__", mod_spec)
  File "/home/glenhenshaw/anaconda3/envs/crocoddyl/lib/python3.6/runpy.py", line 85, in _run_code
exec(code, run_globals)
  File "/opt/openrobots/lib/python3.6/site-packages/crocoddyl/examples/quadrupedal_gaits.py", line 104, in <module>
display = crocoddyl.GepettoDisplay(anymal, 4, 4, cameraTF, frameNames=[lfFoot, rfFoot, lhFoot, rhFoot])
  File "/opt/openrobots/lib/python3.6/site-packages/crocoddyl/__init__.py", line 57, in __init__
self.addRobot()
  File "/opt/openrobots/lib/python3.6/site-packages/crocoddyl/__init__.py", line 124, in addRobot
self.robot.initViewer(windowName="crocoddyl", loadModel=False)
  File "/opt/openrobots/lib/python3.6/site-packages/pinocchio/robot_wrapper.py", line 238, in initViewer
    self.viz.initViewer(*args, **kwargs)
  File "/opt/openrobots/lib/python3.6/site-packages/pinocchio/visualize/gepetto_visualizer.py", line 28, in initViewer
    import gepetto.corbaserver
ModuleNotFoundError: No module named 'gepetto'
nim65s commented 4 years ago

robotpkg-gepetto-corba and robotpkg-gepetto-viewer-corba are obsolete packages. You can now choose your python and (soon) qt versions, with eg. robotpkg-py27-qt4-gepetto-viewer-corba.

Your ModuleNotFoundError is probably because the python sitelib of your installation (eg. /opt/openrobots/lib/python2.7/site-packages for robotpkg & python 2.7) is not available in the sys.path of your python interpreter. Please add it, with (by order of preference) a .pth file, or using the PYTHONPATHenvironment variable, or by manually using sys.path.append().

proyan commented 4 years ago

Hi @GlenHenshaw gepetto-gui is used for visualizations, which are indeed good to have :). If you've followed the installation instructions, you would have access to crocoddyl already.

For installing gepetto-gui, please follow the instructions given by @nim65s sudo apt install robotpkg-py36-qt4-gepetto-viewer-corba

proyan commented 4 years ago

Looking at your error log from when you install by source, it looks like your only problem is the missing gepetto-gui python package. You seem to have everything else already.

proyan commented 4 years ago

Hi @GlenHenshaw Could you please verify that you have a functioning installation?

GlenHenshaw commented 4 years ago

So when I install from the robotpkg-py36-qt4-gepetto-viewer-corba package the install succeeds. I can run the resulting binary and it does not core dump.

However, I have been spectacularly unsuccessful in getting crocoddyl to communicate with the viewer. Neither the command-line tests nor the jupyter notebook scripts provided in the docs work.

From the command line:

 $ python -m crocoddyl.examples.quadrupedal_gaits "display" "plot"
 Traceback (most recent call last):
   File "/home/glenhenshaw/anaconda3/lib/python3.7/runpy.py", line 183, in _run_module_as_main
mod_name, mod_spec, code = _get_module_details(mod_name, _Error)
   File "/home/glenhenshaw/anaconda3/lib/python3.7/runpy.py", line 109, in _get_module_details
__import__(pkg_name)
   File "/opt/openrobots/lib/python3.6/site-packages/crocoddyl/__init__.py", line 1, in <module>
 from .libcrocoddyl_pywrap import *
 ModuleNotFoundError: No module named 'crocoddyl.libcrocoddyl_pywrap'

And from the jupyter notebook:

display = crocoddyl.MeshcatDisplay(talos_legs, 4, 4, False)
ddp.setCallbacks([crocoddyl.CallbackLogger(),
              crocoddyl.CallbackVerbose(),
              crocoddyl.CallbackDisplay(display)])

---------------------------------------------------------------------------
AttributeError                            Traceback (most recent call last)
<ipython-input-22-cdeb5909be20> in <module>
----> 1 display = crocoddyl.MeshcatDisplay(talos_legs, 4, 4, False)
        2 #display = crocoddyl.GepettoDisplay(talos_legs)
        3 ddp.setCallbacks([crocoddyl.CallbackLogger(),
        4                   crocoddyl.CallbackVerbose(),
        5                   crocoddyl.CallbackDisplay(display)])

AttributeError: module 'crocoddyl' has no attribute 'MeshcatDisplay'

It is therefore very difficult for me to determine whether I have a "functioning installation" or not...

GlenHenshaw commented 4 years ago

Update: when I manually add the path to libcrocoddyl_pywrap.cpython-36m-x86_64-linux-gnu.so to my LD_LOAD_PATH (in my case, /opt/openrobots/lib/python3.6/site-packages/crocoddyl), then the command-line example works.

The jupyter notebook, which is what I would prefer to use, still does not work.

proyan commented 4 years ago

Update: when I manually add the path to libcrocoddyl_pywrap.cpython-36m-x86_64-linux-gnu.so to my LD_LOAD_PATH (in my case, /opt/openrobots/lib/python3.6/site-packages/crocoddyl), then the command-line example works.

If you already have the /opt/openrobots/lib/python3.6/site-packages taken care of by your PYTHONPATH, I don't think you would have needed to manually specify the crocoddyl folder for linking.

Looking at your error log, I have a feeling that it is because you seem to be using python3.7 instead of python3.6 here. (You are calling /home/glenhenshaw/anaconda3/lib/python3.7/runpy.py)

Could you please fix this and try again?

GlenHenshaw commented 4 years ago

"Could you please fix this and try again?"

Yes -- I apologize, that was operator error. When I properly activate the Conda environment with python 3.6 and I properly install the most up-to-date crocoddyl packages, the command line example mostly works.

The problem I get now is that with the ANYmal example, it complains about not having the right plugin to read the model files.

File: /opt/openrobots/share/example-robot-data/robots/anymal_b_simple_description/meshes/base/anymal_base.dae could not be loaded
You may try to convert the file with the following command:
osgconv /opt/openrobots/share/example-robot-data/robots/anymal_b_simple_description/meshes/base/anymal_base.dae /opt/openrobots/share/example-robot-data/robots/anymal_b_simple_description/meshes/base/anymal_base.dae.osgb
File /opt/openrobots/share/example-robot-data/robots/anymal_b_simple_description/meshes/base/anymal_base.dae found but could not be opened. Check that a plugin exist.

The humanoid walking example works fine though.

proyan commented 4 years ago

@GlenHenshaw You are turning out to be a good beta user :)

I think the issue is a missing robotpkg-osg-dae. Please install this package and let me know if there is any further issue?

GlenHenshaw commented 4 years ago

Yes, that works!

GlenHenshaw commented 4 years ago

I do still get the following error:

Traceback (most recent call last):
  File "/home/glenhenshaw/anaconda3/envs/crocoddyl/lib/python3.6/runpy.py", line 193, in _run_module_as_main
"__main__", mod_spec)
  File "/home/glenhenshaw/anaconda3/envs/crocoddyl/lib/python3.6/runpy.py", line 85, in _run_code
exec(code, run_globals)
  File "/opt/openrobots/lib/python3.6/site-packages/crocoddyl/examples/quadrupedal_gaits.py", line 143, in <module>
title = phase.keys()[0] + " (phase " + str(i) + ")"
TypeError: 'dict_keys' object does not support indexing

This happens as the example script is exiting. So I get a good visualization, the robot does what I expect it to do, and it throws this error at what appears to be the end.

proyan commented 4 years ago

778 should take care of this last issue. It is because of change in the API between python 2 and 3.

Thanks for the reports @GlenHenshaw, please let us know if there are further issues. If not, could you please close this issue?