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stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
http://stack-of-tasks.github.io/pinocchio/
BSD 2-Clause "Simplified" License
1.92k stars 395 forks source link

'GepettoVisualizer' object has no attribute 'viewer' #1733

Closed fenaux closed 2 years ago

fenaux commented 2 years ago

I continue my journey in pinocchio world

I could run the examples as described in example page of this repo. But the ones with viewer give this error message : command line : python -i gepetto-viewer.py display /home/fenaux/Documents/robot/examples/gepetto-viewer.py:26: UserWarning: Error while starting the viewer client. Check whether gepetto-viewer is properly started viz.initViewer() Error while loading the viewer model. It seems you should start gepetto-viewer 'GepettoVisualizer' object has no attribute 'viewer' Traceback (most recent call last): File "/home/fenaux/Documents/robot/examples/gepetto-viewer.py", line 33, in viz.loadViewerModel("pinocchio") File "/home/fenaux/anaconda3/lib/python3.9/site-packages/pinocchio/visualize/gepetto_visualizer.py", line 137, in loadViewerModel gui = self.viewer.gui AttributeError: 'GepettoVisualizer' object has no attribute 'viewer'

I installed gepetto with conda : conda install gepetto-viewer-corba -c conda-forge as witten here https://github.com/stack-of-tasks/pinocchio/tree/devel/examples If I run gepetto-gui directly in a console I obtain the window interface but I do not know how to load a model with it while window's opening, this message appears 4 times in the console : libpng warning: iCCP: known incorrect sRGB profile

Thanks for your help

jcarpent commented 2 years ago

Could you use meshcat solution instead?

fenaux commented 2 years ago

I installed it with pip install meshcat

And error message are longer :( python -i meshcat-viewer.py leads to

Traceback (most recent call last): File "/home/fenaux/anaconda3/lib/python3.9/runpy.py", line 188, in _run_module_as_main mod_name, mod_spec, code = _get_module_details(mod_name, _Error) File "/home/fenaux/anaconda3/lib/python3.9/runpy.py", line 111, in _get_module_details import(pkg_name) File "/home/fenaux/anaconda3/lib/python3.9/site-packages/meshcat/init.py", line 5, in from . import visualizer File "/home/fenaux/anaconda3/lib/python3.9/site-packages/meshcat/visualizer.py", line 7, in from IPython.display import HTML File "/home/fenaux/anaconda3/lib/python3.9/site-packages/IPython/init.py", line 56, in from .terminal.embed import embed File "/home/fenaux/anaconda3/lib/python3.9/site-packages/IPython/terminal/embed.py", line 16, in from IPython.terminal.interactiveshell import TerminalInteractiveShell File "/home/fenaux/anaconda3/lib/python3.9/site-packages/IPython/terminal/interactiveshell.py", line 35, in from .debugger import TerminalPdb, Pdb File "/home/fenaux/anaconda3/lib/python3.9/site-packages/IPython/terminal/debugger.py", line 6, in from IPython.core.completer import IPCompleter File "/home/fenaux/anaconda3/lib/python3.9/site-packages/IPython/core/completer.py", line 146, in import jedi File "/home/fenaux/anaconda3/lib/python3.9/site-packages/jedi/init.py", line 32, in from jedi.api import Script, Interpreter, set_debug_function, preload_module File "/home/fenaux/anaconda3/lib/python3.9/site-packages/jedi/api/init.py", line 13, in import parso File "/home/fenaux/anaconda3/lib/python3.9/site-packages/parso/init.py", line 42, in from parso.grammar import Grammar, load_grammar File "/home/fenaux/anaconda3/lib/python3.9/site-packages/parso/grammar.py", line 13, in from parso.cache import parser_cache, load_module, try_to_save_module File "/home/fenaux/anaconda3/lib/python3.9/site-packages/parso/cache.py", line 76, in _default_cache_path = _get_default_cache_path() File "/home/fenaux/anaconda3/lib/python3.9/site-packages/parso/cache.py", line 73, in _get_default_cachepath return dir.expanduser() AttributeError: 'PosixPath' object has no attribute 'expanduser'

Traceback (most recent call last): File "/home/fenaux/Documents/robot/examples/meshcat-viewer.py", line 33, in viz.initViewer(open=True) File "/home/fenaux/anaconda3/lib/python3.9/site-packages/pinocchio/visualize/meshcat_visualizer.py", line 99, in initViewer self.viewer = meshcat.Visualizer() if viewer is None else viewer File "/home/fenaux/anaconda3/lib/python3.9/site-packages/meshcat/visualizer.py", line 92, in init self.window = ViewerWindow(zmq_url=zmq_url, start_server=(zmq_url is None), server_args=server_args) File "/home/fenaux/anaconda3/lib/python3.9/site-packages/meshcat/visualizer.py", line 20, in init self.server_proc, self.zmq_url, self.web_url = start_zmq_server_as_subprocess( File "/home/fenaux/anaconda3/lib/python3.9/site-packages/meshcat/servers/zmqserver.py", line 70, in start_zmq_server_as_subprocess raise RuntimeError("the meshcat server process exited prematurely with exit code " + str(server_proc.poll())) RuntimeError: the meshcat server process exited prematurely with exit code 1

jcarpent commented 2 years ago

Everything works fine on our side. It looks like your whole linux environment is dirty. I would rather recommend starting from a clean install.

jcarpent commented 2 years ago

By the way, it seems that you have installed everything in the base env of conda, while you create a new one where you install stuff. Please see with your supervisor to get some tips.

fenaux commented 2 years ago

Thanks for your prompt answers. Yes everything is installed in base env of conda.

I am afraid I am my own supervisor ;)

jcarpent commented 2 years ago

I am afraid I am my own supervisor ;)

OK. Then just start from a fresh install, without mixing different package managers and use conda env for isolating your developments. This is the only help I can provide due to my limited bandwith.

fabinsch commented 2 years ago

Hello @fenaux, you should get a clean conda base environment first. There are two options:

  1. completely uninstall anaconda and install it again (recommend).
  2. Use the conda install --revision (check how to use)

Afterwards, from a clean base environment you should create a specific conda environment for Pinocchio (see Section “Managing environments” https://conda.io/projects/conda/en/latest/user-guide/getting-started.html )

Now depending on what you want to do, inside the specific conda environment you do a conda install -c conda-forge pinocchio to get the master branch of Pinocchio installed.

If you want to use the Pinocchio-3x-preview branch with some new features, you can do conda install -c conda-forge pinocchio --only-deps , then you clone the repo , switch to the desired branch and built from source. In this Pinocchio environment you then install Meshcat using again conda. I hope it helps you.