Rendering hexapod in DART

[daneshtarapore]

In following the README instructions, I encountered the following issues:

1. Some of the Debian repositories are not supported for Ubuntu Xenial. Results of apt-get update: W: The repository 'http://ppa.launchpad.net/fcl-debs/ppa/ubuntu xenial Release' does not have a Release file. N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use. N: See apt-secure(8) manpage for repository creation and user configuration details. W: The repository 'http://ppa.launchpad.net/libccd-debs/ppa/ubuntu xenial Release' does not have a Release file. N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use. N: See apt-secure(8) manpage for repository creation and user configuration details. E: Failed to fetch http://ppa.launchpad.net/fcl-debs/ppa/ubuntu/dists/xenial/main/binary-amd64/Packages 404 Not Found E: Failed to fetch http://ppa.launchpad.net/libccd-debs/ppa/ubuntu/dists/xenial/main/binary-amd64/Packages 404 Not Found E: Some index files failed to download. They have been ignored, or old ones used instead.

2. Configuring the hexapod_dart wrapper, dart GUI libs are not found. Same for Bullet includes (and why Bullet if using DART physics engine?) danesh@danesh-dartbox:~/tmp/hexapod_simu/hexapod_dart$ ./waf configure --prefix=$RESIBOTS_DIR Setting top to : /home/danesh/tmp/hexapod_simu/hexapod_dart Setting out to : /home/danesh/tmp/hexapod_simu/hexapod_dart/build Checking for 'g++' (C++ compiler) : /usr/bin/g++ Checking for 'gcc' (C compiler) : /usr/bin/gcc Checking boost includes : 1_58 Checking boost libs : ok Checking for Eigen : ok Checking for DART includes (including utils/urdf) : ok Checking for DART gui includes : Not found DART: Checking for optional Bullet includes : Not found - be sure that your DART installation is without Bullet enabled Checking for DART libs (including utils/urdf) : ok DART: Checking for Assimp : ok Checking for DART gui libs : Not found Checking for hexapod_controller includes : ok ['-Wall', '-std=c++11', '-O3', '-march=native', '-g'] 'configure' finished successfully (0.203s)

3. Compiling the exp map_elites_hexapod_v2 creates two binary files hexa_duty_binary and hexa_duty_text. But how do you render the graphics to see the hexapod walking?

[costashatz]

Checking for DART gui libs : Not found

It seems that you haven't installed the DART gui libraries.. If they are not found, the graphic version will not be compiled.. Make sure that you have done the following:

sudo apt-add-repository ppa:dartsim/ppa
sudo apt-get update

sudo apt-get install build-essential cmake pkg-config git
sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
sudo apt-get install libopenscenegraph-dev

sudo apt-get install libtinyxml-dev libtinyxml2-dev
sudo apt-get install liburdfdom-dev liburdfdom-headers-dev

[jbmouret]

Hello

Apparently you do not have dart compiled with openscenegraph enabled (Checking for DART gui includes : Not found). This explains why you do not have the graphics.

We usually compile dart 'by hand' using:

cd /path/to/tmp/folder
git clone git://github.com/dartsim/dart.git
cd dart
git checkout release-6.4

mkdir build
cd build
cmake -DDART_ENABLE_SIMD=ON ..
make -j4
sudo make install

I would advise you to do the same as many bugs have been corrected in dart.

On Tue, Jun 12, 2018 at 2:09 PM Danesh Tarapore notifications@github.com wrote:

In following the README instructions, I encountered the following issues:

1.

Some of the Debian repositories are not supported for Ubuntu Xenial. Results of apt-get update: W: The repository 'http://ppa.launchpad.net/fcl-debs/ppa/ubuntu xenial Release' does not have a Release file. N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use. N: See apt-secure(8) manpage for repository creation and user configuration details. W: The repository 'http://ppa.launchpad.net/libccd-debs/ppa/ubuntu xenial Release' does not have a Release file. N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use. N: See apt-secure(8) manpage for repository creation and user configuration details. E: Failed to fetch http://ppa.launchpad.net/fcl-debs/ppa/ubuntu/dists/xenial/main/binary-amd64/Packages 404 Not Found E: Failed to fetch http://ppa.launchpad.net/libccd-debs/ppa/ubuntu/dists/xenial/main/binary-amd64/Packages 404 Not Found E: Some index files failed to download. They have been ignored, or old ones used instead. 2.

Configuring the hexapod_dart wrapper, dart GUI libs are not found. Same for Bullet includes (and why Bullet if using DART physics engine?) danesh@danesh-dartbox:~/tmp/hexapod_simu/hexapod_dart$ ./waf configure --prefix=$RESIBOTS_DIR Setting top to : /home/danesh/tmp/hexapod_simu/hexapod_dart Setting out to : /home/danesh/tmp/hexapod_simu/hexapod_dart/build Checking for 'g++' (C++ compiler) : /usr/bin/g++ Checking for 'gcc' (C compiler) : /usr/bin/gcc Checking boost includes : 1_58 Checking boost libs : ok Checking for Eigen : ok Checking for DART includes (including utils/urdf) : ok Checking for DART gui includes : Not found DART: Checking for optional Bullet includes : Not found - be sure that your DART installation is without Bullet enabled Checking for DART libs (including utils/urdf) : ok DART: Checking for Assimp : ok Checking for DART gui libs : Not found Checking for hexapod_controller includes : ok ['-Wall', '-std=c++11', '-O3', '-march=native', '-g'] 'configure' finished successfully (0.203s) 3.

Compiling the exp map_elites_hexapod_v2 creates two binary files hexa_duty_binary and hexa_duty_text. But how do you render the graphics to see the hexapod walking?

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[daneshtarapore]

Thanks, it works now, using DART v6.4. I also had to install freeglut3-dev as recommended in http://dartsim.github.io/install_dart_on_ubuntu.html

Testing the hexapod rendering, I am getting the following warnings: Warning [MeshShapeNode.cpp:389] [MeshShapeNode::getTextureImageSet] Attempting to access texture image set #4294967295, but there are no materials available Warning [MeshShapeNode.cpp:389] [MeshShapeNode::getTextureImageSet] Attempting to access texture image set #4294967295, but there are no materials available Warning [MeshShapeNode.cpp:389] [MeshShapeNode::getTextureImageSet] Attempting to access texture image set #4294967295, but there are no materials available

Are these texture images available somewhere? Any suggestions how to resolve this?

[costashatz]

Are these texture images available somewhere? Any suggestions how to resolve this?

That's very weird! We have no textures and I have never seen this warning. On the other hand, it's been a while that I haven't used hexapod_dart and maybe with the new DART version something weird happens. I will try to use it and see what happens..