sehoonha / pydart2 Goto Github PK

I am trying to install pydart2 with dart version 6.7.2, and when I run pip install pydart2 it gives the following error:

In file included from pydart2/pydart2_shape_api.cpp:12:0:
    pydart2/pydart2_manager.h:14:28: fatal error: dart/gui/gui.hpp: No such file or directory
    compilation terminated.
    error: command 'gcc' failed with exit status 1

It seems that the 'gui.hpp' file do not exist in dart's folder. Can you offer some help? Thank you!

I'm using a virturalenv of pytthon3, and swig has been installed

import pydart2

Traceback (most recent call last):
File "", line 1, in
File "/home/steele/topics/py3nb/lib/python3.4/site-packages/pydart2/init.py", line 5, in
from . import pydart2_api as papi
ImportError: cannot import name 'pydart2_api'

When building with dart 6.6.2 from source (with python3 setup.py build build_ext) it can be seen form the warnings, that several resources are used, which are deprecated since dart 6.2.

In particular, MultiSphereShape was renamedd to multiSphereConvexHullShape and dart::dynamics::EllipsoidShape::{set|get}Size() was replaced by dart::dynamics::EllipsoidShape::{set|get}Dimensions(). Is Dart <v6.2 still used, or should this be updated?

I would be happy to fix this, if it is desired.

I am trying to create a model of baxter robot in .skel format. I tried to one element at a time and check if that works. By works, I mean just running the simulation and checking how the model behaves with gravity on. In all the cases the model is loaded without any errors, however the model is not showing correct behaviour with gravity when I added just 1 element of my robot. This is the behaviour showing the behaviour when the simulation is turned on with gravity.
This is the link to the video showing the behaviour when I change the visualization_shape from mesh to box primitive shape.
zip file containing .skel file and video showing the behavior.

Kindly suggest the solution to include the mesh model of the robot instead of primitive shape.

Thanks

In the biped walker, I can apply a specific Force and Torque to each body node. Is there a way to apply the same to the com of the entire skeleton?

I believe that my libdart6-all-dev was upgraded to the 6.4 version recently, and since then whenever I try to import pydart2 I get the following error:

Python 3.5.2 (default, Nov 23 2017, 16:37:01) 
[GCC 5.4.0 20160609] on linux
>>> import pydart2
Traceback (most recent call last):
  File "/home/me/Code/libs/pydart2/pydart2/pydart2_api.py", line 18, in swig_import_helper
    fp, pathname, description = imp.find_module('_pydart2_api', [dirname(__file__)])
  File "/usr/lib/python3.5/imp.py", line 296, in find_module
    raise ImportError(_ERR_MSG.format(name), name=name)
ImportError: No module named '_pydart2_api'

During handling of the above exception, another exception occurred:

    Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/me/Code/libs/pydart2/pydart2/__init__.py", line 5, in <module>
    from . import pydart2_api as papi
  File "/home/me/Code/libs/pydart2/pydart2/pydart2_api.py", line 28, in <module>
    _pydart2_api = swig_import_helper()
  File "/home/me/Code/libs/pydart2/pydart2/pydart2_api.py", line 20, in swig_import_helper
    import _pydart2_api
ImportError: libdart.so.6.3: cannot open shared object file: No such file or directory

I checked my library path with ls /usr/lib/libdart* to confirm that I had the libraries in the first place; I believe that I do in fact have all of the packages,

/usr/lib/libdart-collision-bullet.so
/usr/lib/libdart-collision-bullet.so.6.4
/usr/lib/libdart-collision-bullet.so.6.4.0
/usr/lib/libdart-collision-ode.so
etc...

but as you can see they're all version 6.4.0. I searched a bit in the pydart source for some sort of version flag asking for version 6.3, but I didn't find anything obvious. Is there anything I can do to get pydart to recognize the more recent versions of the libraries?

Note: I already tried building dart's release-6.3 branch from source and linking the output libraries to my path; while this does solve the library versioning issues and allows me to import pydart2 normally, there are still some problems- for instance, loading .skel files gives me errors concerning segfaults and stack smashing which I was definitely not running into before. I'm not sure what's causing these errors, therefore I was hoping to rely on the prebuilt packages.

Unfortunately, I can't figure out how to install the v6.3 packages either- the only package with that version from the ppa is 6.3.0.ppa2~zesty, but doing a

sudo apt-get install libdart6=6.3.0.ppa2~zesty 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Version '6.3.0.ppa2~zesty' for 'libdart6' was not found

Fails with the above error. In fact, the only version that the ppa seems to provide is 6.4

apt-cache madison libdart6                     
libdart6 | 6.4.0.ppa1~xenial | http://ppa.launchpad.net/dartsim/ppa/ubuntu xenial/main amd64 Packages

Does the current codebase have a method to create a .skel file from the skeleton datastructure? This could be a simple method to convert files from urdf and sdf format to skel method.

I am using a conda virtualenv and am running into issues with import pydart2 on Ubuntu 16.04.

from . import pydart2_api as papi
ImportError: cannot import name 'pydart2_api'

As per #12, I have tried:

1. virtualenvs in python 3.5, 3.6, 3.7
2. install dartsim in 6.2.0, 6.3.0, 6.3.1, 6.8.2
3. installing pydart2 via pip and building from source files
4. setting export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/lib:/usr/lib:/usr/local/lib per #17

I also tried installing dart from apt-get, but get a very long build error when running python setup.py build as in purdue-biorobotics/flappy#2.

Interestingly, the error messages are different for using dartsim 6.2 and 6.3 Though I can find no specific preference for 6.3.0, when using 6.2.0, the import error is

ImportError: libdart.so.6.3: cannot open shared object file: No such file or directory

while when using 6.3.0 or 6.3.1, the error message is

ImportError: /usr/local/lib/libdart.so.6.3: undefined symbol: _ZNK5boost9re_detail31cpp_regex_traits_implementationIcE9transformB5cxx11EPKcS4_

Thanks!

running pip install pydart2 I get the following error:

    /usr/local/include/dart/common/Memory.hpp:66:71: note:   ‘dart::common::aligned_vector’
     using aligned_vector = std::vector<_Tp, Eigen::aligned_allocator<_Tp>>;
                                                                           ^
    pydart2/pydart2_draw.cpp:449:42: error: expected primary-expression before ‘>’ token
         Eigen::aligned_vector<Eigen::Vector2i> conn;
                                              ^
    pydart2/pydart2_draw.cpp:449:44: error: ‘conn’ was not declared in this scope
         Eigen::aligned_vector<Eigen::Vector2i> conn;
                                                ^
    error: command 'x86_64-linux-gnu-gcc' failed with exit status 1

I was wondering if I can use flutter with pydart2