RoboGrammar: Graph Grammar for Terrain-Optimized Robot Design (SIGGRAPH Asia 2020)
Home Page: https://cdfg.mit.edu/publications/robogrammar-graph-grammar-for-terrain-optimized-robot-design
License: MIT License
Hi I am trying to emulate your experiment but it seems that the Python.h error occurs everytime I run the following command
make -j8I tried fixing the broken packages and all the python stuff, and then rebuild the code again but no matter what I do, it still gives me the same error. Please let me know what I am doing wrong or is the Python.h file missing from the repository or anything else.
Error:
In file included from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pytypes.h:12:0,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/cast.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/attr.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pybind11.h:44,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/numpy.h:12,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/eigen.h:12,
from /home/omkar/RoboGrammar/examples/python_bindings/py_graph.cpp:1:
/home/omkar/RoboGrammar/extern/pybind11/include/pybind11/detail/common.h:112:10: fatal error: Python.h: No such file or directory
#include
^~~~~~~~~~
compilation terminated.
examples/python_bindings/CMakeFiles/pyrobotdesign.dir/build.make:86: recipe for target 'examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_graph.cpp.o' failed
make[2]: *** [examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_graph.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pytypes.h:12:0,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/cast.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/attr.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pybind11.h:44,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/numpy.h:12,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/eigen.h:12,
from /home/omkar/RoboGrammar/examples/python_bindings/py_optim.cpp:1:
/home/omkar/RoboGrammar/extern/pybind11/include/pybind11/detail/common.h:112:10: fatal error: Python.h: No such file or directory
#include
^~~~~~~~~~
compilation terminated.
examples/python_bindings/CMakeFiles/pyrobotdesign.dir/build.make:110: recipe for target 'examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_optim.cpp.o' failed
make[2]: *** [examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_optim.cpp.o] Error 1
In file included from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pytypes.h:12:0,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/cast.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/attr.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pybind11.h:44,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/numpy.h:12,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/eigen.h:12,
from /home/omkar/RoboGrammar/examples/python_bindings/py_render.cpp:1:
/home/omkar/RoboGrammar/extern/pybind11/include/pybind11/detail/common.h:112:10: fatal error: Python.h: No such file or directory
#include
^~~~~~~~~~
compilation terminated.
examples/python_bindings/CMakeFiles/pyrobotdesign.dir/build.make:158: recipe for target 'examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_render.cpp.o' failed
make[2]: *** [examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_render.cpp.o] Error 1
In file included from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pytypes.h:12:0,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/cast.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/attr.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pybind11.h:44,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/numpy.h:12,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/eigen.h:12,
from /home/omkar/RoboGrammar/examples/python_bindings/py_robot.cpp:2:
/home/omkar/RoboGrammar/extern/pybind11/include/pybind11/detail/common.h:112:10: fatal error: Python.h: No such file or directory
#include
^~~~~~~~~~
compilation terminated.
examples/python_bindings/CMakeFiles/pyrobotdesign.dir/build.make:182: recipe for target 'examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_robot.cpp.o' failed
make[2]: *** [examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_robot.cpp.o] Error 1
In file included from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pytypes.h:12:0,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/cast.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/attr.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pybind11.h:44,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/numpy.h:12,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/eigen.h:12,
from /home/omkar/RoboGrammar/examples/python_bindings/py_prop.cpp:2:
/home/omkar/RoboGrammar/extern/pybind11/include/pybind11/detail/common.h:112:10: fatal error: Python.h: No such file or directory
#include
^~~~~~~~~~
compilation terminated.
examples/python_bindings/CMakeFiles/pyrobotdesign.dir/build.make:134: recipe for target 'examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_prop.cpp.o' failed
make[2]: *** [examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_prop.cpp.o] Error 1
In file included from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pytypes.h:12:0,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/cast.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/attr.h:13,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/pybind11.h:44,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/numpy.h:12,
from /home/omkar/RoboGrammar/extern/pybind11/include/pybind11/eigen.h:12,
from /home/omkar/RoboGrammar/examples/python_bindings/py_eigen_geometry.cpp:2:
/home/omkar/RoboGrammar/extern/pybind11/include/pybind11/detail/common.h:112:10: fatal error: Python.h: No such file or directory
#include
^~~~~~~~~~
compilation terminated.
examples/python_bindings/CMakeFiles/pyrobotdesign.dir/build.make:62: recipe for target 'examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_eigen_geometry.cpp.o' failed
make[2]: *** [examples/python_bindings/CMakeFiles/pyrobotdesign.dir/py_eigen_geometry.cpp.o] Error 1
CMakeFiles/Makefile2:1256: recipe for target 'examples/python_bindings/CMakeFiles/pyrobotdesign.dir/all' failed
make[1]: *** [examples/python_bindings/CMakeFiles/pyrobotdesign.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 98%] Linking CXX executable RuleViewer
[ 98%] Built target RuleViewer
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2
TypeError: forward() takes from 3 to 4 positional arguments but 5 were given
I always get the above mentioned error when i try running graph heuristic search. any suggestions to correct it?
Excuse me, can I import robots generated by robogrammar into vrep？
i would appreciate it if you could help me to solve this problem
ERROR: No matching distribution found for numpy==1.23.4
and other No matching distribution found for pybind scipy and so on
Hi, got this error when I ran the example code. Any helps or hints about it? Thanks!
Using optimization seed: 360342674
Traceback (most recent call last):
File "examples/design_search/viewer.py", line 258, in
main()
File "examples/design_search/viewer.py", line 156, in main
input_sequence, result = simulate(robot, task, opt_seed, args.jobs,
File "/home/wenhao/2_pytorch_ws/RoboGrammar/examples/design_search/design_search.py", line 124, in simulate
value_estimator.get_observation(main_sim, obs[:,j])
TypeError: get_observation(): incompatible function arguments. The following argument types are supported:
1. (self: pyrobotdesign.ValueEstimator, arg0: pyrobotdesign.Simulation, arg1: numpy.ndarray[float64[m, 1], flags.writeable]) -> None
Invoked with: <pyrobotdesign.NullValueEstimator object at 0x7ff6c8faf930>, <pyrobotdesign.BulletSimulation object at 0x7ff6c8f97b70>, array([], dtype=float64)
sorry to bother you again, but could you upload some files about the exact meaning of each of the numbers . Though i know that the numbers are a sequence of grammar rules, it is quite confusing when coming to each of the certain number. No any description of the numbers. For example , " 0, 7, 1, 13, 1, 2, 16, 12, 13, 6, 4, 19, 4, 17, 5, 3, 2, 16, 4, 5, 18, 9, 8, 9, 9, 8 -o" . what means 0, what means 7?which part of the body the num represents? how to use numbers to creat a head , a leg ? Thanks a lot .
I ran into a few issues while trying to build the project using the supplied Dockerfile.
The first occurs when installing numpy-quaternion. It looks like pip isn't respecting the order of packages (I'm pretty sure pip made a change at some point, but it might be post-python 3.6)
> [3/9] RUN python3 -m pip install numpy numpy-quaternion:
#6 1.830 Collecting numpy
#6 2.975 Downloading https://files.pythonhosted.org/packages/45/b2/6c7545bb7a38754d63048c7696804a0d947328125d81bf12beaa692c3ae3/numpy-1.19.5-cp36-cp36m-manylinux1_x86_64.whl (13.4MB)
#6 5.191 Collecting numpy-quaternion
#6 5.689 Downloading https://files.pythonhosted.org/packages/9c/58/d3e99c50f76aeae8aec711d2f93387d802486a4ad5c9697f0a1b48eaa018/numpy-quaternion-2022.4.1.tar.gz (59kB)
#6 6.030 Complete output from command python setup.py egg_info:
#6 6.030 Traceback (most recent call last):
#6 6.030 File "<string>", line 1, in <module>
#6 6.030 File "/tmp/pip-build-0nofek86/numpy-quaternion/setup.py", line 16, in <module>
#6 6.030 import numpy as np
#6 6.030 ModuleNotFoundError: No module named 'numpy'
To solve this I separated the package installation to a new line in the Dockerfile, RUN pip3 install numpy-quaternion, which takes advantage of Docker's ordering system.
The second happens when the build starts. When I inspect the contents of /robot_design/extern/glfw it's empty-which is probably the issue at hand. After a while I realized that I should have initialized the git submodules before building-but I think this raises a point that there's no documentation on the Docker process.
> [ 8/10] RUN cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..:
#12 0.441 -- The C compiler identification is GNU 7.5.0
#12 0.604 -- The CXX compiler identification is GNU 7.5.0
#12 0.620 -- Check for working C compiler: /usr/bin/cc
#12 0.718 -- Check for working C compiler: /usr/bin/cc -- works
#12 0.722 -- Detecting C compiler ABI info
#12 0.823 -- Detecting C compiler ABI info - done
#12 0.842 -- Detecting C compile features
#12 1.148 -- Detecting C compile features - done
#12 1.162 -- Check for working CXX compiler: /usr/bin/c++
#12 1.275 -- Check for working CXX compiler: /usr/bin/c++ -- works
#12 1.276 -- Detecting CXX compiler ABI info
#12 1.396 -- Detecting CXX compiler ABI info - done
#12 1.411 -- Detecting CXX compile features
#12 1.923 -- Detecting CXX compile features - done
#12 1.940 -- Found GLEW: /usr/include (Required is at least version "1.13")
#12 1.947 -- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so found components: OpenGL
#12 1.948 CMake Error at core/CMakeLists.txt:25 (add_subdirectory):
#12 1.948 The source directory
#12 1.948
#12 1.948 /robot_design/extern/glfw
#12 1.948
#12 1.948 does not contain a CMakeLists.txt file.
#12 1.948
#12 1.948
#12 1.949 CMake Error at core/CMakeLists.txt:34 (add_subdirectory):
#12 1.949 The source directory
#12 1.949
#12 1.949 /robot_design/extern/PEGTL
#12 1.949
#12 1.949 does not contain a CMakeLists.txt file.
#12 1.949
#12 1.949
#12 1.950 CMake Error at core/CMakeLists.txt:41 (add_subdirectory):
FROM ubuntu:18.04
#12 1.950 The source directory
#12 1.950
#12 1.950 /robot_design/extern/tinyxml2
#12 1.950
#12 1.950 does not contain a CMakeLists.txt file.
#12 1.950
#12 1.950
#12 1.951 CMake Error at examples/python_bindings/CMakeLists.txt:8 (add_subdirectory):
#12 1.951 The source directory
#12 1.951
#12 1.951 /robot_design/extern/pybind11
#12 1.951
#12 1.951 does not contain a CMakeLists.txt file.
#12 1.951
#12 1.951
#12 1.951 CMake Error at examples/python_bindings/CMakeLists.txt:9 (pybind11_add_module):
#12 1.951 Unknown CMake command "pybind11_add_module".
#12 1.951
#12 1.951
#12 1.953 -- Configuring incomplete, errors occurred!
#12 1.953 See also "/robot_design/build/CMakeFiles/CMakeOutput.log".
------
executor failed running [/bin/sh -c cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..]: exit code: 1
Some of the other examples don't run under the provided environment (missing packages). I would expect all of the examples to work with the image. At the least, pytorch is missing from the dependencies (maybe there could be a requirements.txt)
The Dockerfile, as it is now plus the fixes above, won't successfully run the example because the command line arguments are left out. I was able to copy and paste one of the examples from the main Readme and replace the line in the Dockerfile to make it run.
If you encounter this error:
CMake Error at extern/glfw/CMakeLists.txt:210 (message):
The RandR headers were not found
-- Configuring incomplete, errors occurred!
See also "/home/matteogu/Documents/RoboGrammar/build/CMakeFiles/CMakeOutput.log".
See also "/home/matteogu/Documents/RoboGrammar/build/CMakeFiles/CMakeError.log".
Use this fix:
sudo apt-get install xorg-dev libglu1-mesa-dev
From my understanding of the code, particularly preprocess.py it looks like the graph always has a constant number of nodes and a mask is used to block empty nodes. Why is this the case? Shouldnt the GNN be able to handle graphs with an arbitray number of nodes?
Excuse me, I'm very interested in this project, but what has confused me for several days is the parameter details.If I want to know the parameters about the robot I have trained,how should I process the logs or where can I view the result?Hoping for your reply, thanks!
Every time I try to run this command: python3 examples/python_bindings/setup.py develop
I get this error in the terminal and I'm not exactly sure how to fix. I am of the idea that "LIBRARY_NAME" is supposed to be some sort of a placeholder but it seems nothing is being parsed to it.
WARNING: '${LIBRARY_NAME}' not a valid package name; please use only .-separated package names in setup.py
running develop
error: Invalid distribution name or version syntax: -LIBRARY-NAME--0.1.0
Please help!!
i wonder how to creat a task and a robot of my own , i dont even know what the numbers means in the example
Hi
I am getting the error below when trying to follow the instructions on Mac as well as linux. Is there any update that I am missing?
Thanks
(base) dynamic-oit-vapornet100-10-9-60-250:Robogrammar prerit$ sudo git clone [email protected]:allanzhao/robot_design.git
Password:
Cloning into 'robot_design'...
The authenticity of host 'github.com (140.82.113.4)' can't be established.
RSA key fingerprint is SHA256:nThbg6kXUpJWGl7E1IGOCspRomTxdCARLviKw6E5SY8.
Are you sure you want to continue connecting (yes/no)? yes
Warning: Permanently added 'github.com,140.82.113.4' (RSA) to the list of known hosts.
[email protected]: Permission denied (publickey).
fatal: Could not read from remote repository.
Please make sure you have the correct access rights
and the repository exists.
excuse me， is there a api manual for users to read？
I am unable to run any of the examples due to this error.
Traceback (most recent call last):
File "examples/design_search/viewer.py", line 2, in
from design_search import RobotDesignEnv, make_graph, build_normalized_robot, presimulate, simulate
File "/home/ephson/RoboGrammar/examples/design_search/design_search.py", line 9, in
import pyrobotdesign as rd
ModuleNotFoundError: No module named 'pyrobotdesign'
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