search

symforce-org / symforce

Fast symbolic computation, code generation, and nonlinear optimization for robotics
https://symforce.org
Apache License 2.0
1.41k stars 145 forks source link

robot_3d_localilzation #313

Closed VineetTambe closed 1 year ago

VineetTambe commented 1 year ago

Describe the bug

running robot_3d_localization.py throws an error:

Traceback (most recent call last):
  File "/home/vrex/symForce/symforce/symforce/examples/robot_3d_localization/robot_3d_localization.py", line 425, in <module>
    main()
  File "/home/vrex/symForce/symforce/symforce/examples/robot_3d_localization/robot_3d_localization.py", line 252, in main
    print(f"Num iterations: {len(result.iteration) - 1}")
AttributeError: 'Result' object has no attribute 'iteration'

To Reproduce clone the current symforce github repo:

  1. Run python3 robot_3d_localization.py
  2. See error

Expected behavior Should running without any errors

Environment (please complete the following information):

Additional context This is a simple problem that can be fixed by using result.iteration_stats instead of result.iterations on line 252 of robot_3d_localization.py

Should I raise a pull request for this fix??

aaron-skydio commented 1 year ago

I'm a little confused by this - SymForce v0.8 has result.iteration_stats here, as far as I can tell: https://github.com/symforce-org/symforce/blob/v0.8.0/symforce/examples/robot_3d_localization/robot_3d_localization.py#L252

There is https://github.com/symforce-org/symforce/commit/9266eb54c6bd17408a0c1eb57454a1c3624190e4 which changed the name to iterations in main, but I can't find anywhere where it's just result.iteration.

I.e. running the v0.8 examples on a v0.8 install should work, and running either the v0.8 examples or the main examples should work on an install from main

aaron-skydio commented 1 year ago

@VineetTambe did you build and install the cloned copy of SymForce when you were seeing this, or had you installed symforce from pip? What commit did you clone? Is it possible you had modified this bit in robot_3d_localization.py after cloning?

VineetTambe commented 1 year ago

I did not modify robot_3d_localization.py. I installed symforce using pip and cloned the symforce repo from the main branch (this commit d1b538c) was the latest commit.

VineetTambe commented 1 year ago

After checking the git history I found out that: the result.iteration_stats was updated to result.iterations in robot_3d_localization.py in commit: 9266eb54 & revisionId: 9266eb54c6bd17408a0c1eb57454a1c3624190e4

aaron-skydio commented 1 year ago

Ok yeah I was confused by result.iteration, as opposed to result.iterations, in the original message. We indeed changed the API in https://github.com/symforce-org/symforce/commit/9266eb54c6bd17408a0c1eb57454a1c3624190e4 - if you've installed symforce v0.8, you should run the examples on the v0.8 tag (i.e. git checkout v0.8.0). If you install SymForce from source you'll be able to run the examples on the latest commit.