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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

mprint issue on os #717

Closed ddliu365 closed 5 years ago

ddliu365 commented 5 years ago

When I run mprint, I found the following problem, can you help me solve it?

In [17]: mprint(rand([6,6])) # Matlab-style print ans =

IndexError Traceback (most recent call last)

in () ----> 1 mprint(rand([6,6])) # Matlab-style print /usr/local/lib/python2.7/site-packages/pinocchio/utils.pyc in mprint(M, name, eps) 78 Mmin = lambda M: M.min() if np.nonzero(M)[1].shape[1]>0 else M.sum() 79 Mmax = lambda M: M.max() if np.nonzero(M)[1].shape[1]>0 else M.sum() ---> 80 Mm = Mmin(abs(M[np.nonzero(M)])) 81 MM = Mmax(abs(M[np.nonzero(M)])) 82 /usr/local/lib/python2.7/site-packages/pinocchio/utils.pyc in (M) 76 print() 77 ---> 78 Mmin = lambda M: M.min() if np.nonzero(M)[1].shape[1]>0 else M.sum() 79 Mmax = lambda M: M.max() if np.nonzero(M)[1].shape[1]>0 else M.sum() 80 Mm = Mmin(abs(M[np.nonzero(M)])) IndexError: tuple index out of range
jcarpent commented 5 years ago

I solved this issue with 33ed834f13d42ff66661111cf2c3601227236a42 Solving this issue was really easy. I think you should think to solve some of them by yourself: it allows you to get into Pinocchio very efficiently, and it will the supporting team too.

jcarpent commented 5 years ago

you can reinstall Pinocchio from the devel branch using: brew reinstall pinocchio --devel

ddliu365 commented 5 years ago

Sorry, it seems not working for me

$ brew reinstall pinocchio --devel Usage: brew reinstall [options] formula

Uninstall and then install formula (with existing and any appended install options).

Unless HOMEBREW_NO_INSTALL_CLEANUP is set, brew cleanup will be run for the reinstalled formulae or, every 30 days, for all formulae.

-d, --debug                      If brewing fails, open an interactive
                                 debugging session with access to IRB or a
                                 shell inside the temporary build directory
-s, --build-from-source          Compile formula from source even if a
                                 bottle is available.
    --force-bottle               Install from a bottle if it exists for the
                                 current or newest version of macOS, even if
                                 it would not normally be used for
                                 installation.
    --keep-tmp                   Don't delete the temporary files created
                                 during installation.
-f, --force                      Install without checking for previously
                                 installed keg-only or non-migrated
                                 versions.
-v, --verbose                    Print the verification and postinstall
                                 steps.
    --display-times              Print install times for each formula at the
                                 end of the run.
    --without-python             pinocchio: Build without Python support
    --without-fcl                pinocchio: Build without FCL support
    --without-boost-python       pinocchio: Build without boost-python
                                 support
    --without-urdfdom            pinocchio: Build without urdfdom support
    --without-eigenpy            pinocchio: Build without eigenpy support
    --without-python@2           pinocchio: Build without python@2 support
    --without-numpy              pinocchio: Build without numpy support
    --without-hpp-fcl            pinocchio: Build without hpp-fcl support
-h, --help                       Show this message.

Error: invalid option: --devel

ddliu365 commented 5 years ago

I don't know how to revise the source code and install it to my computer.

I am very interested into contributing to this software, especially for the installation tutorial on Mac

Can you tell me the procedure of revising code in GitHub

jcarpent commented 5 years ago

You should then do brew uninstall pinocchio followed by brew install pinocchio --devel

ddliu365 commented 5 years ago

I met this problem after doing this command:

$ brew uninstall pinocchio Uninstalling /usr/local/Cellar/pinocchio/2.1.0... (1,845 files, 31.2MB)

$ brew install pinocchio --devel Updating Homebrew... ==> Auto-updated Homebrew! Updated 1 tap (homebrew/core). ==> New Formulae dockerize zydis ==> Updated Formulae akamai dav1d jo thrift apktool dmenu libpq unzip at-spi2-atk dwm opentracing-cpp wartremover at-spi2-core erlang osquery weboob bazel jadx pulumi cash-cli jenkins scw

Error: No devel block is defined for gepetto/gepetto/pinocchio

jcarpent commented 5 years ago

I've just pushed. Could you try it again?

ddliu365 commented 5 years ago

Problem changed:

$ brew install pinocchio --devel Error: invalid attribute for formula 'gepetto/gepetto/pinocchio': version (nil) Please report this bug: https://docs.brew.sh/Troubleshooting /usr/local/Homebrew/Library/Homebrew/formula.rb:257:in validate_attributes!' /usr/local/Homebrew/Library/Homebrew/formula.rb:204:ininitialize' /usr/local/Homebrew/Library/Homebrew/formulary.rb:112:in new' /usr/local/Homebrew/Library/Homebrew/formulary.rb:112:inget_formula' /usr/local/Homebrew/Library/Homebrew/formulary.rb:306:in factory' /usr/local/Homebrew/Library/Homebrew/extend/ARGV.rb:50:inblock in formulae' /usr/local/Homebrew/Library/Homebrew/extend/ARGV.rb:48:in map' /usr/local/Homebrew/Library/Homebrew/extend/ARGV.rb:48:informulae' /usr/local/Homebrew/Library/Homebrew/cli_parser.rb:155:in formula_options' /usr/local/Homebrew/Library/Homebrew/cmd/install.rb:86:inblock in install_args' /usr/local/Homebrew/Library/Homebrew/cli_parser.rb:34:in instance_eval' /usr/local/Homebrew/Library/Homebrew/cli_parser.rb:34:ininitialize' /usr/local/Homebrew/Library/Homebrew/cmd/install.rb:15:in new' /usr/local/Homebrew/Library/Homebrew/cmd/install.rb:15:ininstall_args' /usr/local/Homebrew/Library/Homebrew/cmd/install.rb:91:in install' /usr/local/Homebrew/Library/Homebrew/brew.rb:102:in

'

jcarpent commented 5 years ago

Brew has changed. So the new policy is now: brew install pinocchio --HEAD

ddliu365 commented 5 years ago

Built failed:

dongdong$ brew install pinocchio --HEAD ==> Auto-updated Homebrew! Updated 1 tap (gepetto/gepetto). ==> Updated Formulae gepetto/gepetto/gepetto-viewer ✔ Updating Homebrew...

==> Installing pinocchio from gepetto/gepetto ==> Cloning https://github.com/stack-of-tasks/pinocchio.git Cloning into '/Users/dongdong/Library/Caches/Homebrew/pinocchio--git'... ==> Checking out branch devel Already on 'devel' Your branch is up to date with 'origin/devel'. Submodule '.travis' (https://github.com/jrl-umi3218/jrl-travis) registered for path '.travis' Submodule 'cmake' (https://github.com/jrl-umi3218/jrl-cmakemodules) registered for path 'cmake' Submodule 'models/romeo' (https://github.com/laas/romeo.git) registered for path 'models/romeo' Cloning into '/Users/dongdong/Library/Caches/Homebrew/pinocchio--git/.travis'... Cloning into '/Users/dongdong/Library/Caches/Homebrew/pinocchio--git/cmake'... Cloning into '/Users/dongdong/Library/Caches/Homebrew/pinocchio--git/models/romeo'... Submodule path '.travis': checked out '083fa2cb0fa4ad594926d9bb3d246075e62ce9ee' Submodule path 'cmake': checked out '1d9aeca25e970d2d967fd5be0fb93fe961db121b' Submodule path 'models/romeo': checked out '200b93eb20d0c3c95d55c29fb47bb87eb343f586' Submodule 'romeo_description/cmake' (git://github.com/jrl-umi3218/jrl-cmakemodules.git) registered for path 'models/romeo/romeo_description/cmake' Cloning into '/Users/dongdong/Library/Caches/Homebrew/pinocchio--git/models/romeo/romeo_description/cmake'... Submodule path 'models/romeo/romeo_description/cmake': checked out 'a831f5403a93b67c6cb8675625e79dd676a565f3' /Users/dongdong/Library/Caches/Homebrew/pinocchio--git/.travis /Users/dongdong/Library/Caches/Homebrew/pinocchio--git/cmake /Users/dongdong/Library/Caches/Homebrew/pinocchio--git/models/romeo /Users/dongdong/Library/Caches/Homebrew/pinocchio--git/models/romeo/romeo_description/cmake ==> git submodule update --init ==> cmake .. -DCMAKE_C_FLAGS_RELEASE=-DNDEBUG -DCMAKE_CXX_FLAGS_RELEASE=-DNDEBUG ==> make Last 15 lines from /Users/dongdong/Library/Logs/Homebrew/pinocchio/03.make: make[1]: [bindings/python/CMakeFiles/pinocchio_pywrap.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... [ 48%] Linking CXX executable sample-models cd /tmp/pinocchio-20190305-10432-1q48mi3/build/unittest && /usr/local/Cellar/cmake/3.13.4/bin/cmake -E cmake_link_script CMakeFiles/sample-models.dir/link.txt --verbose=1 /usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++ -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion -DNDEBUG -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX10.14.sdk -Wl,-search_paths_first -Wl,-headerpad_max_install_names -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp CMakeFiles/sample-models.dir/sample-models.cpp.o -o sample-models -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -Wl,-rpath,/usr/local/Cellar/assimp/4.1.0/lib -Wl,-rpath,/usr/local/Cellar/octomap/1.9.0/lib -Wl,-rpath,/usr/local/Cellar/hpp-fcl/1.0.1/lib -Wl,-rpath,/tmp/pinocchio-20190305-10432-1q48mi3/build/src -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib ../src/libpinocchio.dylib /usr/local/lib/libboost_unit_test_framework-mt.dylib -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -L/usr/local/Cellar/console_bridge/0.4.3/lib -L/usr/local/Cellar/urdfdom/1.0.3/lib -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp [ 48%] Built target sample-models [ 48%] Linking CXX executable centroidal cd /tmp/pinocchio-20190305-10432-1q48mi3/build/unittest && /usr/local/Cellar/cmake/3.13.4/bin/cmake -E cmake_link_script CMakeFiles/centroidal.dir/link.txt --verbose=1 /usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++ -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion -DNDEBUG -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX10.14.sdk -Wl,-search_paths_first -Wl,-headerpad_max_install_names -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp CMakeFiles/centroidal.dir/centroidal.cpp.o -o centroidal -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -Wl,-rpath,/usr/local/Cellar/assimp/4.1.0/lib -Wl,-rpath,/usr/local/Cellar/octomap/1.9.0/lib -Wl,-rpath,/usr/local/Cellar/hpp-fcl/1.0.1/lib -Wl,-rpath,/tmp/pinocchio-20190305-10432-1q48mi3/build/src -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib ../src/libpinocchio.dylib /usr/local/lib/libboost_unit_test_framework-mt.dylib -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -L/usr/local/Cellar/console_bridge/0.4.3/lib -L/usr/local/Cellar/urdfdom/1.0.3/lib -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp [ 48%] Built target centroidal [ 48%] Linking CXX executable geom cd /tmp/pinocchio-20190305-10432-1q48mi3/build/unittest && /usr/local/Cellar/cmake/3.13.4/bin/cmake -E cmake_link_script CMakeFiles/geom.dir/link.txt --verbose=1 /usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++ -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion -DNDEBUG -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX10.14.sdk -Wl,-search_paths_first -Wl,-headerpad_max_install_names -L/usr/local/Cellar/console_bridge/0.4.3/lib -L/usr/local/Cellar/urdfdom/1.0.3/lib -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp CMakeFiles/geom.dir/geom.cpp.o -o geom -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -L/usr/local/Cellar/console_bridge/0.4.3/lib -L/usr/local/Cellar/urdfdom/1.0.3/lib -Wl,-rpath,/usr/local/Cellar/assimp/4.1.0/lib -Wl,-rpath,/usr/local/Cellar/octomap/1.9.0/lib -Wl,-rpath,/usr/local/Cellar/hpp-fcl/1.0.1/lib -Wl,-rpath,/usr/local/Cellar/console_bridge/0.4.3/lib -Wl,-rpath,/usr/local/Cellar/urdfdom/1.0.3/lib -Wl,-rpath,/tmp/pinocchio-20190305-10432-1q48mi3/build/src -L/usr/local/Cellar/console_bridge/0.4.3/lib -L/usr/local/Cellar/urdfdom/1.0.3/lib -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib ../src/libpinocchio.dylib /usr/local/lib/libboost_unit_test_framework-mt.dylib -L/usr/local/Cellar/console_bridge/0.4.3/lib -L/usr/local/Cellar/urdfdom/1.0.3/lib -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge -L/usr/local/Cellar/assimp/4.1.0/lib -L/usr/local/Cellar/octomap/1.9.0/lib -L/usr/local/Cellar/hpp-fcl/1.0.1/lib -lhpp-fcl /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib -loctomap -loctomath -lassimp [ 48%] Built target geom make: *** [all] Error 2

If reporting this issue please do so at (not Homebrew/brew or Homebrew/core): https://github.com/gepetto/homebrew-gepetto/issues

jcarpent commented 5 years ago

@ddliugit I have updated the Formula. You can retry again. It should work fine now.

ddliu365 commented 5 years ago

It worked!!

Thanks