ubcmocca / terrainrlsim Goto Github PK

Hi,
I've tried to compile the project in ubuntu 16.04 and followed the steps in the readme.
I got this weird Linking error when Building terrainrlUtil as following:

~/TerrainRLSim/gmake$ make config=release64
==== Building terrainrlUtil (release64) ====
Linking terrainrlUtil
/usr/bin/ld: cannot find -lBulletCollision_gmake_x64_release
collect2: error: ld returned 1 exit status
terrainrlUtil.make:139: recipe for target '../lib/libterrainrlUtil.so' failed
make[1]: *** [../lib/libterrainrlUtil.so] Error 1
Makefile:20: recipe for target 'terrainrlUtil' failed
make: *** [terrainrlUtil] Error 2

I opened the file "terrainrlUtil.make" in ~/TerrainRLSim/gmake to see what may cause this problem. I found the "TARGET = $(TARGETDIR)/libterrainrlUtil.so" while there is no such file named "libterrainrlUtil.so" in ~/TerrainRLSim/lib. Perhaps I'm missing something very important. Could anyone help me with this problem?

Thanks in advance!

Hi,

I'm working on creating a .deb package to make it easier to install this project.
The version that I have now can be downloaded from here. To install it you might need to run the following commands:

sudo dpkg -i terrainrlsim-pkg.deb
sudo apt update -y
sudo apt install -f -y

It doesn't install the Python package yet. Also, since it's my first time doing this there might be a lot of issues such as:

• I put the compiled files in the package which depend on installed libraries such as boost, but to make sure that the name of the .so files that they need doesn't change I used exact versions, which might cause trouble later down the road;
• Everything was compiled on a 64bit system, so I'm not sure if it works on 32bit or not;

Any comment is appreciated.

The package was compiled and built on an installation of "elementary OS 0.4.1 Loki" and tested on a bare installation of "Ubuntu 16.04.4 LTS (Xenial Xerus)".

There are still many environments that can be created.

Windows
This setup has been tested on Windows 7 and 10 with visual studio 2013.

Download the library.zip file that contains almost all of the relevant pre-compiled external libraries and source code.
Unpack this library in the same directory the project is located in. For example, TerrainRL/../.

In the compile instructions , it notes that to download the library.zip before compiling the source code.
So, what is the download address?

Will greatly reduce dependencies.

Hi.

I've tried to compile the project in ubuntu 16.04, and followed the steps in the readme. I got this weird linking error when linking terrainrlUtil :

...
Linking terrainrlUtil
/usr/bin/ld: ../external/jsoncpp/build/debug/src/lib_json/libjsoncpp.a(json_value.cpp.o): relocation R_X86_64_32 against `.rodata' can not be used when making a shared object; recompile with -fPIC
../external/jsoncpp/build/debug/src/lib_json/libjsoncpp.a: error adding symbols: Bad value

I also got lots of warnings regarging deprecations, like (I'm using the g++ version that comes with 16.04, which is g++ 5.04):

...
MotionDB.cpp
In file included from ../external/Eigen/Core:276:0,
                 from ../external/Eigen/Dense:1,
                 from ../util/MathUtil.h:5,
                 from ../util/MotionDB.h:11,
                 from ../util/MotionDB.cpp:8:
../external/Eigen/src/Core/Functors.h:973:28: warning: ‘template<class _Operation> class std::binder2nd’ is deprecated [-Wdeprecated-declarations]
 struct functor_traits<std::binder2nd<T> >
                            ^
In file included from /usr/include/c++/5/bits/stl_function.h:1128:0,
                 from /usr/include/c++/5/string:48,
                 from /usr/include/c++/5/random:40,
                 from ../util/MathUtil.h:3,
                 from ../util/MotionDB.h:11,
                 from ../util/MotionDB.cpp:8:
/usr/include/c++/5/backward/binders.h:143:11: note: declared here
     class binder2nd
...

So far I've tried the following :

• adding the -fPIC flag as suggested by the error, but I checked in the premake file that they already set that flag in various libraries ( terrain___ ).
• changing the libraries from sharedlib to staticlib in the premake file (it worked for me once in other projects, as I was mixing static and dynamic libraries) and got to the point where everything compiled except the last steps (the main terrainRL application), which returned lots of errors with jsoncpp :

...
undefined reference to `Json::Value::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
...

I checked and it looked like the generated makefiles included the appropiate library directories (also jsoncpp).

Is there are different way to compile for ubuntu16.04 ?. Perhaps I'm missing something very obvious, but still I get the same results after removing and starting from scratch the whole process. Also, the external libraries seem to be all static (.a) but in the README they reference some dynamic libraries when copying from the external folder. The build uses those static libraries, right?, not dynamic.

Thanks in advance.

Hi!
I've tried using the latest release as you uploaded and followed strictly the build Instructions in your readme. However when I process the last step: "make config=release64", I got the following errors.

~/TerrainRLSim-master/gmake$ make config=release64
==== Building terrainrlUtil (release64) ====
==== Building terrainrlAnim (release64) ====
==== Building terrainrlLearning (release64) ====
==== Building terrainrlSim (release64) ====
==== Building terrainrlRender (release64) ====
==== Building terrainrlScenarios (release64) ====
==== Building TerrainRL (release64) ====
Linking TerrainRL
../external/caffe/build/lib/libcaffe.so undefined reference to cv::imread(cv::String const&, int)
../external/caffe/build/lib/libcaffe.so undefined reference to cv::imencode(cv::String const&, cv::_InputArray const&, std::vector<unsigned char, std::allocator<unsigned char> >&, std::vector<int, std::allocator<int> > const&)
../external/caffe/build/lib/libcaffe.so undefined reference to cv::imdecode(cv::_InputArray const&, int)
collect2: error: ld returned 1 exit status
TerrainRL.make:130: recipe for target '../x64/Release/TerrainRL' failed
make[1]: *** [../x64/Release/TerrainRL] Error 1
Makefile:16: recipe for target 'TerrainRL' failed
make: *** [TerrainRL] Error 2

I am using Ubuntu 16.04. I don't know why there is the undefined reference and what caused these. The release is the newest and there is no other problem before the last step. Is there anyone who could help me?
Thanks in advance!
@Neo-X @farzadab

May I ask where is your CNN training file for terrain training and where is your state combination(robot + terrain) in your program?
Well I mean in your paper, you input the current terrain picture and output the terrain states through CNN model and then you combine the robot's states and terrain states together to train your policy net. I would like to know which folder or which files are used for the terrain CNN model and which for the policy model?
Thanks in advance!
@Neo-X

• I can successfully import terrainRLSim , but I will meet error when use the package, such as terrainRLSimgetEnv(env_name='PD_Biped3D_FULL_Lmitate_Steps_v0').

  • Error message : ModuleNotFoundError: No module named '_terrainRLAdapter'

• I will meet error Segmentation fault (core dumped) when I python3 run_sim.py

  • More detail as following:

   $ python3 run_sim.py 
   ArgV:  ['run_sim.py']
   Segmentation fault (core dumped)
  

• Could you please give me some help?