nvlabs / curobo Goto Github PK
View Code? Open in Web Editor NEWCUDA Accelerated Robot Library
Home Page: https://curobo.org
License: Other
CUDA Accelerated Robot Library
Home Page: https://curobo.org
License: Other
Hello,
I followed the installation instructions and installed the Python version of the library.
However, when I run the examples, I don't have access to some visualization of the planned trajectories or any kind of GUI. Should this be the case? How do I see the planned trajectories if so? Is this the only way to have Isaac Sim installed?
Best,
Isidoros
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Running MotionGen.plan_single(cu_js, ik_goal, plan_cfg)
works fine; however, MotionGen.plan_batch(cu_js_batch, ik_goal_batch, plan_cfg)
crashes, where cu_js_batch
and ik_goal_batch
are simply the stacked versions of cu_js
and ik_goal
(e.g.: Pose
consists of (5,3)
-shaped positions and (5,4)
-shaped quaternions instead of (3,)
and (4,)
, respectively). The parameters used for instantiating MotionGen
and plan_cfg
are identical in both cases.
Is there an example use case in IsaacSim that I can compared / debug against? There's batch_motion_gen_reacher.py
but that utilizes multiple environments. I have a single environment and would just like to evaluate multiple goal poses in parallel for that single world.
Huge thanks!
self = Mesh(name='mesh_1', pose=[0.0, 2, 0.5, 0.043, -0.471, 0.284, 0.834], scale=[0.5, 0.5, 0.5], color=[0.38343539824735295...file_string=None, urdf_path=None, vertices=None, faces=None, vertex_colors=None, vertex_normals=None, face_colors=None)
process = True
def get_trimesh_mesh(self, process: bool = True):
# load mesh from filepath or verts and faces:
if self.file_path is not None:
m = trimesh.load(self.file_path, process=process, force="mesh")
if isinstance(m, trimesh.Scene):
m = m.dump(concatenate=True)
if isinstance(m.visual, trimesh.visual.texture.TextureVisuals):
E AttributeError: 'list' object has no attribute 'visual'
src/curobo/geom/types.py:385: AttributeError
-------------------------------------------------- Captured log call ---------------------------------------------------
WARNING curobo:logger.py:34 Creating new Mesh cache: 4
=================================================== warnings summary ===================================================
:3
:3: DeprecationWarning: invalid escape sequence \p
tests/pose_test.py::test_pose_transform_point_grad
/home/apri/anaconda3/envs/curobo/lib/python3.8/site-packages/torch/autograd/gradcheck.py:652: UserWarning: Input #0 requires gradient and is not a double precision floating point or complex. This check will likely fail if all the inputs are not of double precision floating point or complex.
warnings.warn(
tests/pose_test.py::test_pose_transform_point_grad
/home/apri/anaconda3/envs/curobo/lib/python3.8/site-packages/torch/autograd/gradcheck.py:652: UserWarning: Input #1 requires gradient and is not a double precision floating point or complex. This check will likely fail if all the inputs are not of double precision floating point or complex.
warnings.warn(
-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
=============================================== short test summary info ================================================
FAILED tests/warp_mesh_test.py::test_sdf_pose - AttributeError: 'list' object has no attribute 'visual'
FAILED tests/warp_mesh_test.py::test_swept_sdf_speed_pose - AttributeError: 'list' object has no attribute 'visual'
FAILED tests/warp_mesh_test.py::test_swept_sdf_pose - AttributeError: 'list' object has no attribute 'visual'
FAILED tests/world_config_test.py::test_world_modify - AttributeError: 'list' object has no attribute 'visual'
=========================== 4 failed, 125 passed, 2 skipped, 3 warnings in 65.17s (0:01:05) ============================
Isaac-sim 2023.1.0 with cu118
GPU 4090 Ubuntu22.04
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Issue Details
When , I meet the error when run example/motion_gen_api_example.py
, the main error code is :
Traceback of TorchScript (most recent call last):
File "/home/panmingjie/gsnet/curobo/src/curobo/util/sample_lib.py", line 511, in gaussian_transform
uniform_samples: torch.Tensor, proj_mat: torch.Tensor, i_mat: torch.Tensor, variance: float
):
gaussian_halton_samples = proj_mat * torch.erfinv(2 * uniform_samples - 1)
~~~~~~~~~~~~ <--- HERE
i_mat = i_mat * variance
gaussian_halton_samples = torch.matmul(gaussian_halton_samples, i_mat)
nvrtc: error: invalid value for --gpu-architecture (-arch)
pytorch version: 1.12.0
CUDA version: 11.3
The point that confuses me is that my pytorch and cuda version can run other repos and perform model training normally. I tried running the torch.erfinv()
function alone but no error was reported. Why is it reporting an error when running curobo?
I'm not very familiar with CUDA, I hope you can help me .
When planning trajectories in a collision world, can objects the robot interacts be taken into account?
I'm trying to use a robot to grasp objects. Curobo can meet my needs very well, reach the specified grasp pose, and grab the object. However, since the trajectory planned later only considers the robot itself, not the object. Therefore, objects can easily collide during motion.
(For example, if you go to pick up a water cup from a drawer, the robotic arm can use curobo to enter the drawer without collision, but during the process of taking out the drawer, the water cup can easily hit the drawer directly).
This problem seems difficult to solve. Do you have any relevant ideas or features? Grateful
Good morning,
I wanted to test curobo with a robot we are using (ur10e arm with a gripper on a mobile base). I followed the tutorial and everything worked until the last test, when I run omni_python curobo/examples/isaac_sim/motion_gen_reacher.py --robot /{PATH}/ur5e.yml --visualize_spheres
This might be related with the IsaacSim setup I am using:
nvidia/cudagl:11.3.1-devel-ubuntu20.04
as a base image so that nvcc
is accessible to build curobo and nvbloxAs mentioned, everything builds correctly, and I am able to run IsaacSim to generate the USD and the spheres.
Here is the yaml file, and here is full log of the error I get:
# /isaac-sim/python.sh curobo/examples/isaac_sim/motion_gen_reacher.py --robot /root/ros_ws/src/curobo_ros/cfg/amiga.yaml --visualize_spheres
[Warning] [omni.isaac.kit.simulation_app] Modules: ['pxr', 'pxr.Tf._tf', 'pxr.Tf', 'pxr.Trace._trace', 'pxr.Trace', 'pxr.Work._work', 'pxr.Work', 'pxr.Plug._plug', 'pxr.Plug', 'pxr.Gf._gf', 'pxr.Gf', 'pxr.Vt._vt', 'pxr.Vt', 'pxr.Ar._ar', 'pxr.Ar', 'pxr.Kind._kind', 'pxr.Kind', 'pxr.Sdf._sdf', 'pxr.Sdf', 'pxr.Pcp._pcp', 'pxr.Pcp', 'pxr.Usd._usd', 'pxr.Usd', 'pxr.UsdGeom._usdGeom', 'pxr.UsdGeom', 'pxr.Ndr._ndr', 'pxr.Ndr', 'pxr.Sdr._sdr', 'pxr.Sdr', 'pxr.UsdShade._usdShade', 'pxr.UsdShade', 'pxr.UsdPhysics._usdPhysics', 'pxr.UsdPhysics'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/2023.1/kit_20231102_114656.log
2023-11-02 11:46:56 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.137s] [ext: omni.kit.async_engine-0.0.0] startup
[1.409s] [ext: omni.activity.core-1.0.1] startup
[1.418s] [ext: omni.assets.plugins-0.0.0] startup
[1.423s] [ext: omni.stats-0.0.0] startup
[1.426s] [ext: omni.client-1.0.1] startup
[1.453s] [ext: omni.activity.profiler-1.0.2] startup
[1.458s] [ext: omni.gpu_foundation-0.0.0] startup
[1.502s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup
[1.505s] [ext: carb.windowing.plugins-1.0.0] startup
2023-11-02 11:46:58 [2,064ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): Corsair CORSAIR K60 RGB PRO Low Profile Mechanical Gaming Keyboard [030000001c1b0000ad1b000011010000]
[2.102s] [ext: omni.kit.renderer.init-0.0.0] startup
|---------------------------------------------------------------------------------------------|
| Driver Version: 535.113.01 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 3060 | Yes: 0 | | 12534 MB | 10de | 0 |
| | | | | | 2503 | f55b400e.. |
| | | | | | 65 | |
|=============================================================================================|
| OS: 20.04.4 LTS (Focal Fossa) ubuntu, Version: 20.04.4, Kernel: 5.15.0-87-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Core(TM) i9-10920X CPU @ 3.50GHz | Cores: 12 | Logical: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31768 | Free Memory: 15125
| Total Page/Swap (MB): 2047 | Free Page/Swap: 530
|---------------------------------------------------------------------------------------------|
[2.810s] [ext: omni.kit.pipapi-0.0.0] startup
[2.812s] [ext: omni.kit.pip_archive-0.0.0] startup
[2.812s] [ext: omni.pip.compute-1.2.0] startup
[2.813s] [ext: omni.pip.torch-2_0_1-2.0.2] startup
[2.845s] [ext: omni.pip.cloud-1.0.1] startup
[2.847s] [ext: omni.isaac.core_archive-2.2.1] startup
[2.847s] [ext: omni.kit.loop-isaac-1.0.2] startup
[2.849s] [ext: omni.kit.test-0.0.0] startup
[2.851s] [ext: omni.kit.telemetry-0.4.0] startup
[2.902s] [ext: omni.isaac.ml_archive-1.1.3] startup
[2.904s] [ext: omni.mtlx-0.1.0] startup
[2.906s] [ext: omni.usd.config-1.0.3] startup
[2.919s] [ext: omni.gpucompute.plugins-0.0.0] startup
[2.922s] [ext: omni.usd.libs-1.0.0] startup
[3.180s] [ext: omni.appwindow-1.1.5] startup
[3.496s] [ext: omni.kit.renderer.core-0.0.0] startup
[4.599s] [ext: omni.kit.renderer.capture-0.0.0] starWarning: in Tf_PyLoadScriptModule at line 123 of /buildAgent/work/ac88d7d902b57417/USD/pxr/base/tf/pyUtils.cpp -- Import failed for module 'pxr.UsdSkel'!
tup
[4.606s] [ext: omni.kit.renderer.imgui-0.0.0] startup
[4.823s] [ext: carb.audio-0.1.0] startup
[4.852s] [ext: omni.ui-2.17.3] startup
[4.886s] [ext: omni.uiaudio-1.0.0] startup
[4.889s] [ext: omni.kit.mainwindow-1.0.0] startup
[4.893s] [ext: omni.kit.uiapp-0.0.0] startup
[4.893s] [ext: omni.usd.schema.anim-0.0.0] startup
Traceback (most recent call last):
File "/isaac-sim/kit/exts/omni.usd.libs/pxr/UsdSkel/__init__.py", line 25, in <module>
Tf.PreparePythonModule()
File "/isaac-sim/kit/python/lib/python3.10/site-packages/pxr/Tf/__init__.py", line 89, in PreparePythonModule
module = importlib.import_module(
File "/isaac-sim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
RuntimeError: extension class wrapper for base class pxrInternal_v0_22__pxrReserved__::UsdTyped has not been created yet
2023-11-02 11:47:00 [4,891ms] [Error] [omni.ext._impl._internal] Failed to import python module pxr.AnimationSchema from /isaac-sim/kit/exts/omni.usd.schema.anim. Error: extension class wrapper for base class pxrInternal_v0_22__pxrReserved__::UsdGeomBoundable has not been created yet. Traceback:
Traceback (most recent call last):
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 187, in _custom_importer
return _import_public(ext_module.path, ext_module.name, reload_enabled)
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 94, in _import_public
module = import_module(module_name)
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/isaac-sim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/isaac-sim/kit/exts/omni.usd.schema.anim/pxr/AnimationSchema/__init__.py", line 40, in <module>
from . import _animationSchema
RuntimeError: extension class wrapper for base class pxrInternal_v0_22__pxrReserved__::UsdGeomBoundable has not been created yet
2023-11-02 11:47:00 [4,891ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'pxr.AnimationSchema' in '/isaac-sim/kit/exts/omni.usd.schema.anim' failed to load.
At:
/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup
/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/curobo/curobo/examples/isaac_sim/motion_gen_reacher_nvblox.py(52): <module>
2023-11-02 11:47:00 [4,891ms] [Error] [omni.ext.plugin] [ext: omni.usd.schema.anim-0.0.0] Failed to startup python extension.
[5.038s] [ext: omni.usd.schema.physics-0.0.0] startup
[5.040s] [ext: omni.usd.schema.semantics-0.0.0] startup
2023-11-02 11:47:01 [5,005ms] [Error] [omni.ext._impl._internal] Failed to import python module usd.schema.semantics from /isaac-sim/kit/exts/omni.usd.schema.semantics. Error: extension class wrapper for base class pxrInternal_v0_22__pxrReserved__::UsdTyped has not been created yet. Traceback:
Traceback (most recent call last):
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 187, in _custom_importer
return _import_public(ext_module.path, ext_module.name, reload_enabled)
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 94, in _import_public
module = import_module(module_name)
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/isaac-sim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/isaac-sim/kit/exts/omni.usd.schema.semantics/usd/schema/semantics/__init__.py", line 4, in <module>
import pxr.UsdSkel
File "/isaac-sim/kit/exts/omni.usd.libs/pxr/UsdSkel/__init__.py", line 25, in <module>
Tf.PreparePythonModule()
File "/isaac-sim/kit/python/lib/python3.10/site-packages/pxr/Tf/__init__.py", line 89, in PreparePythonModule
module = importlib.import_module(
File "/Isaac-sim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
RuntimeError: extension class wrapper for base class pxrInternal_v0_22__pxrReserved__::UsdTyped has not been created yet
[...MANY MORE ERRORS LIKE THIS...]
2023-11-02 11:47:04 [8,438ms] [Error] [omni.ext.plugin] [ext: omni.kit.material.library-1.3.39] Failed to startup python extension.
[8.577s] [ext: omni.hydra.engine.stats-1.0.1] startup
[8.584s] [ext: omni.kit.manipulator.viewport-104.0.8] startup
[8.585s] [ext: omni.kit.viewport.window-105.1.9] startup
2023-11-02 11:47:04 [8,552ms] [Error] [omni.ext._impl._internal] Failed to import python module omni.kit.viewport.window from /isaac-sim/kit/exts/omni.kit.viewport.window. Error: No to_python (by-value) converter found for C++ type: std::vector<pxrInternal_v0_22__pxrReserved__::SdfPath, std::allocator<pxrInternal_v0_22__pxrReserved__::SdfPath> >. Traceback:
Traceback (most recent call last):
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 187, in _custom_importer
return _import_public(ext_module.path, ext_module.name, reload_enabled)
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 94, in _import_public
module = import_module(module_name)
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/isaac-sim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/isaac-sim/kit/exts/omni.kit.viewport.window/omni/kit/viewport/window/__init__.py", line 1, in <module>
from .extension import ViewportWindowExtension
File "/isaac-sim/kit/exts/omni.kit.viewport.window/omni/kit/viewport/window/extension.py", line 17, in <module>
from .dragdrop.usd_file_drop_delegate import UsdFileDropDelegate
File "/isaac-sim/kit/exts/omni.kit.viewport.window/omni/kit/viewport/window/dragdrop/usd_file_drop_delegate.py", line 13, in <module>
from .scene_drop_delegate import SceneDropDelegate
File "/isaac-sim/kit/exts/omni.kit.viewport.window/omni/kit/viewport/window/dragdrop/scene_drop_delegate.py", line 14, in <module>
import omni.usd
File "/isaac-sim/kit/exts/omni.usd/omni/usd/__init__.py", line 1, in <module>
from ._impl import *
File "/isaac-sim/kit/exts/omni.usd/omni/usd/_impl/__init__.py", line 3, in <module>
from .api import *
File "/isaac-sim/kit/exts/omni.usd/omni/usd/_impl/api.py", line 16, in <module>
from pxr import Usd, UsdUtils
File "/isaac-sim/kit/exts/omni.usd.libs/pxr/UsdUtils/__init__.py", line 25, in <module>
Tf.PreparePythonModule()
File "/isaac-sim/kit/python/lib/python3.10/site-packages/pxr/Tf/__init__.py", line 89, in PreparePythonModule
module = importlib.import_module(
File "/isaac-sim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
TypeError: No to_python (by-value) converter found for C++ type: std::vector<pxrInternal_v0_22__pxrReserved__::SdfPath, std::allocator<pxrInternal_v0_22__pxrReserved__::SdfPath> >
2023-11-02 11:47:04 [8,552ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.kit.viewport.window' in '/isaac-sim/kit/exts/omni.kit.viewport.window' failed to load.
At:
/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup
/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/curobo/curobo/examples/isaac_sim/motion_gen_reacher_nvblox.py(52): <module>
2023-11-02 11:47:04 [8,552ms] [Error] [omni.ext.plugin] [ext: omni.kit.viewport.window-105.1.9] Failed to startup python extension.
[8.692s] [ext: omni.physics.tensors-0.1.0] startup
[8.704s] [ext: omni.kit.widget.graph-1.8.4] startup
[8.710s] [ext: omni.kit.usd_undo-0.1.2] startup
[8.711s] [ext: omni.kit.viewport.utility-1.0.16] startup
[8.711s] [ext: omni.physx.tensors-0.1.0] startup
2023-11-02 11:47:04 [8,687ms] [Error] [omni.physx.cooking.plugin] Trying to create a context with name "omni.physx" that already exists
[8.731s] [ext: omni.kit.window.extensions-1.3.0] startup
[8.738s] [ext: omni.graph-1.106.0] startup
2023-11-02 11:47:04 [8,716ms] [Error] [omni.ext._impl._internal] Failed to import python module omni.graph.core from /isaac-sim/kit/exts/omni.graph. Error: No to_python (by-value) converter found for C++ type: std::vector<pxrInternal_v0_22__pxrReserved__::SdfPath, std::allocator<pxrInternal_v0_22__pxrReserved__::SdfPath> >. Traceback:
Traceback (most recent call last):
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 187, in _custom_importer
return _import_public(ext_module.path, ext_module.name, reload_enabled)
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 94, in _import_public
module = import_module(module_name)
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/isaac-sim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/__init__.py", line 20, in <module>
from ._impl.extension import _PublicExtension # noqa: F401
File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py", line 19, in <module>
from .file_format_1_6 import migrate_compound_node_schema_data
File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/file_format_1_6.py", line 4, in <module>
import omni.usd
File "/isaac-sim/kit/exts/omni.usd/omni/usd/__init__.py", line 1, in <module>
from ._impl import *
File "/isaac-sim/kit/exts/omni.usd/omni/usd/_impl/__init__.py", line 3, in <module>
from .api import *
File "/isaac-sim/kit/exts/omni.usd/omni/usd/_impl/api.py", line 16, in <module>
from pxr import Usd, UsdUtils
File "/isaac-sim/kit/exts/omni.usd.libs/pxr/UsdUtils/__init__.py", line 25, in <module>
Tf.PreparePythonModule()
File "/isaac-sim/kit/python/lib/python3.10/site-packages/pxr/Tf/__init__.py", line 89, in PreparePythonModule
module = importlib.import_module(
File "/isaac-sim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
TypeError: No to_python (by-value) converter found for C++ type: std::vector<pxrInternal_v0_22__pxrReserved__::SdfPath, std::allocator<pxrInternal_v0_22__pxrReserved__::SdfPath> >
2023-11-02 11:47:04 [8,716ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.graph.core' in '/isaac-sim/kit/exts/omni.graph' failed to load.
At:
/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup
/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/curobo/curobo/examples/isaac_sim/motion_gen_reacher_nvblox.py(52): <module>
2023-11-02 11:47:04 [8,716ms] [Error] [omni.ext.plugin] [ext: omni.graph-1.106.0] Failed to startup python extension.
Fatal Python error: Segmentation fault
Current thread 0x00007f4e0a4cfb80 (most recent call first):
File "/isaac-sim/kit/exts/omni.debugdraw/omni/debugdraw/__init__.py", line 6 in _get_interface
File "/isaac-sim/kit/exts/omni.debugdraw/omni/debugdraw/__init__.py", line 10 in get_debug_draw_interface
File "/isaac-sim/kit/exts/omni.debugdraw/omni/debugdraw/scripts/extension.py", line 7 in on_startup
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 166 in _startup_ext
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 224 in startup
File "/isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py", line 328 in startup_extension
File "PythonExtension.cpp::startup()", line 2 in <module>
File "/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py", line 303 in _start_app
File "/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py", line 192 in __init__
File "/curobo/curobo/examples/isaac_sim/motion_gen_reacher_nvblox.py", line 52 in <module>
Extension modules: numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, torch._C, torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, torch._C._special, xxhash._xxhash, scipy._lib._ccallback_c, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.sparse.linalg._isolve._iterative, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg._cythonized_array_utils, scipy.linalg._flinalg, scipy.linalg._solve_toeplitz, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg.cython_lapack, scipy.linalg.cython_blas, scipy.linalg._matfuncs_expm, scipy.linalg._decomp_update, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, scipy.spatial.transform._rotation, scipy.optimize._minpack2, scipy.optimize._group_columns, scipy.optimize._trlib._trlib, numpy.linalg.lapack_lite, scipy.optimize._lbfgsb, _moduleTNC, scipy.optimize._moduleTNC, scipy.optimize._cobyla, scipy.optimize._slsqp, scipy.optimize._minpack, scipy.optimize._lsq.givens_elimination, scipy.optimize._zeros, scipy.optimize.__nnls, scipy.optimize._highs.cython.src._highs_wrapper, scipy.optimize._highs._highs_wrapper, scipy.optimize._highs.cython.src._highs_constants, scipy.optimize._highs._highs_constants, scipy.linalg._interpolative, scipy.optimize._bglu_dense, scipy.optimize._lsap, scipy.optimize._direct, psutil._psutil_linux, psutil._psutil_posix, PIL._imaging, embreex.rtcore, embreex.rtcore_scene, embreex.mesh_construction, lxml._elementpath, lxml.etree, shapely.lib, shapely._geos, shapely._geometry_helpers, scipy.ndimage._nd_image, _ni_label, scipy.ndimage._ni_label, yaml._yaml, scipy.interpolate._fitpack, scipy.interpolate.dfitpack, scipy.interpolate._bspl, scipy.interpolate._ppoly, scipy.interpolate.interpnd, scipy.interpolate._rbfinterp_pythran, scipy.interpolate._rgi_cython, scipy.integrate._odepack, scipy.integrate._quadpack, scipy.integrate._vode, scipy.integrate._dop, scipy.integrate._lsoda, scipy.special.cython_special, scipy.stats._stats, scipy.stats.beta_ufunc, scipy.stats._boost.beta_ufunc, scipy.stats.binom_ufunc, scipy.stats._boost.binom_ufunc, scipy.stats.nbinom_ufunc, scipy.stats._boost.nbinom_ufunc, scipy.stats.hypergeom_ufunc, scipy.stats._boost.hypergeom_ufunc, scipy.stats.ncf_ufunc, scipy.stats._boost.ncf_ufunc, scipy.stats.ncx2_ufunc, scipy.stats._boost.ncx2_ufunc, scipy.stats.nct_ufunc, scipy.stats._boost.nct_ufunc, scipy.stats.skewnorm_ufunc, scipy.stats._boost.skewnorm_ufunc, scipy.stats.invgauss_ufunc, scipy.stats._boost.invgauss_ufunc, scipy.stats._biasedurn, scipy.stats._levy_stable.levyst, scipy.stats._stats_pythran, scipy._lib._uarray._uarray, scipy.stats._statlib, scipy.stats._mvn, scipy.stats._sobol, scipy.stats._qmc_cy, scipy.stats._rcont.rcont, pydantic.typing, pydantic.validators, pydantic.networks, pydantic.types, pydantic.json, pydantic.error_wrappers, pydantic.fields, pydantic.parse, pydantic.main, pydantic.dataclasses, pydantic.decorator, omni.mdl.pymdlsdk._pymdlsdk (total: 146)
/isaac-sim/python.sh: line 41: 1111 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python
Do you have any ideas where this might come from?
Thank you!
It took me entire day to finally find out it was the clone() function of motion_gen.plan_single that caused the entire script to shut done completely without returning any backtrace or error message. This left me clueless for most of day and wanted to give up several times..... But luckily I found it
The same error can be reproduced in shipped script examples/isaac_sim/motion_gen_reacher.py by simplely changing
result = motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, plan_config) ->
result = motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, plan_config.clone())
I have also tested this for plan_batch_env, it seems like for plan_batch_env, either self.plan_config or self.plan_config.clone() is fine.
isaac-sim 2022.2.1 pass all tests
i tried to configuring new robot
urdf file:
<?xml version="1.0"?>
<!-- ======================================================================== -->
<!-- | Flexiv Rizon4 Arm (with approximated dynamic parameters) | -->
<!-- ======================================================================== -->
<robot name="A02L_MP">
<joint name="joint0" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="world" />
<child link="base_link" />
</joint>
<joint name="joint1" type="revolute">
<parent link="base_link" />
<child link="link1" />
<origin rpy="0 0 3.141592653589793" xyz="0.0 0.0 0.155" />
<axis xyz="0 0 1" />
<limit effort="123" lower="-2.7925" upper="2.7925" velocity="2.0944" />
</joint>
<joint name="joint2" type="revolute">
<parent link="link1" />
<child link="link2" />
<origin rpy="0 0 0" xyz="0.0 0.03 0.210" />
<axis xyz="0 1 0" />
<limit effort="123" lower="-2.2689" upper="2.2689" velocity="2.0944" />
</joint>
<joint name="joint3" type="revolute">
<parent link="link2" />
<child link="link3" />
<origin rpy="0 0 0" xyz="0.0 0.035 0.205" />
<axis xyz="0 0 1" />
<limit effort="64" lower="-2.9671" upper="2.9671" velocity="2.4435" />
</joint>
<joint name="joint4" type="revolute">
<parent link="link3" />
<child link="link4" />
<origin rpy="0 0 -3.141592653589793" xyz="-0.02 -0.03 0.19" />
<axis xyz="0 1 0" />
<limit effort="64" lower="-1.8675" upper="2.6878" velocity="2.4435" />
</joint>
<joint name="joint5" type="revolute">
<parent link="link4" />
<child link="link5" />
<origin rpy="0 0 -3.141592653589793" xyz="-0.02 0.025 0.195" />
<axis xyz="0 0 1" />
<limit effort="39" lower="-2.9671" upper="2.9671" velocity="4.8869" />
</joint>
<joint name="joint6" type="revolute">
<parent link="link5" />
<child link="link6" />
<origin rpy="0 0 0" xyz="0.0 0.03 0.19" />
<axis xyz="0 1 0" />
<limit effort="39" lower="-1.3963" upper="4.5379" velocity="4.8869" />
</joint>
<joint name="joint7" type="revolute">
<parent link="link6" />
<child link="link7" />
<origin rpy="0 -1.5707963267948966 0" xyz="-0.055 0.070 0.11" />
<axis xyz="0 0 1" />
<limit effort="39" lower="-2.9671" upper="2.9671" velocity="4.8869" />
</joint>
<joint name="link7_to_flange" type="fixed">
<parent link="link7" />
<child link="flange" />
<origin rpy="0 0 -3.141592653589793" xyz="0.0 0.0 0.081" />
</joint>
<link name="world" />
<link name="base_link">
<inertial>
<mass value="3.7" />
<origin rpy="0 0 0" xyz="0.0 -0.0 0.09" />
<inertia ixx="0.019" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.009" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/link0.stl" />
</geometry>
<material name="rizon_light_grey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/collision/link0.stl" />
</geometry>
</collision>
</link>
<link name="link1">
<inertial>
<mass value="3.7" />
<origin rpy="0 0 0" xyz="0.0 0.01 0.15" />
<inertia ixx="0.028" ixy="0.0" ixz="0.0" iyy="0.027" iyz="0.002" izz="0.008" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/link1.stl" />
</geometry>
<material name="rizon_light_grey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/collision/link1.stl" />
</geometry>
</collision>
</link>
<link name="link2">
<inertial>
<mass value="2.7" />
<origin rpy="0 0 0" xyz="0.0 0.04 0.1" />
<inertia ixx="0.023" ixy="0.0" ixz="0.0" iyy="0.024" iyz="-0.0" izz="0.004" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/link2.stl" />
</geometry>
<material name="rizon_light_grey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/collision/link2.stl" />
</geometry>
</collision>
</link>
<link name="link3">
<inertial>
<mass value="2.4" />
<origin rpy="0 0 0" xyz="-0.01 -0.0 0.13" />
<inertia ixx="0.014" ixy="0.0" ixz="-0.001" iyy="0.014" iyz="-0.001" izz="0.004" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/link3.stl" />
</geometry>
<material name="rizon_light_grey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/collision/link3.stl" />
</geometry>
</collision>
</link>
<link name="link4">
<inertial>
<mass value="2.4" />
<origin rpy="0 0 0" xyz="-0.01 0.03 0.1" />
<inertia ixx="0.018" ixy="0.0" ixz="-0.002" iyy="0.019" iyz="-0.001" izz="0.003" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/link4.stl" />
</geometry>
<material name="rizon_light_grey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/collision/link4.stl" />
</geometry>
</collision>
</link>
<link name="link5">
<inertial>
<mass value="2.4" />
<origin rpy="0 0 0" xyz="0.0 0.0 0.13" />
<inertia ixx="0.014" ixy="0.0" ixz="0.0" iyy="0.013" iyz="0.001" izz="0.004" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/link5.stl" />
</geometry>
<material name="rizon_light_grey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/collision/link5.stl" />
</geometry>
</collision>
</link>
<link name="link6">
<inertial>
<mass value="2.1" />
<origin rpy="0 0 0" xyz="-0.01 0.06 0.07" />
<inertia ixx="0.008" ixy="-0.0" ixz="-0.001" iyy="0.009" iyz="0.002" izz="0.004" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/link6.stl" />
</geometry>
<material name="rizon_light_grey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/collision/link6.stl" />
</geometry>
</collision>
</link>
<link name="link7">
<inertial>
<mass value="0.8" />
<origin rpy="0 0 0" xyz="0.0 0.0 0.03" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/visual/link7.stl" />
</geometry>
<material name="rizon_light_grey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/collision/link7.stl" />
</geometry>
</collision>
</link>
<link name="flange" />
<!-- material
<material name="rizon_blue">
<color rgba="0. 0. 1. 0.5" />
</material>
<material name="rizon_light_grey">
<color rgba="0.7 0.7 0.7 1" />
</material>
<material name="rizon_dark_grey">
<color rgba="0.2 0.2 0.2 1" />
</material>
<material name="rizon_white">
<color rgba="1 1 1 1" />
</material>-->
</robot>
and successfully generate a usd file:
flexiv_usd.json
but when opening usd by isaac-sim, it crashed
I install cuRobo in python mode(ubuntu20.04 CUDA11.3, pytorch 1.11 and python3.7). When running pytest using "python3 -m pytest .", I got an error "RuntimeError: expected scalar type double but found float", and this error due to the function of normalize_quaternion() in src/curobo/types/math.py. I am new in pytorch and CUDA, how should I fix this bug?
Hi, examples given in isaac-sim folder are working except nvblox ones. I have followed instructions given in curobo documentation to install nvblox correctly in isaac-sim and was able to import nvblox_torch. But when running nvblox related examples, I am getting below issue. Can you help me resolve this? Is this some version mismatch issue?
Command: omni_python mpc_nvblox_example.py
Issue:
OSError: /usr/local/lib/libglog.so.0: undefined symbol: ZN6google14FlagRegistererC1INSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPKcS9_S9_PT_SB
2023-11-28 18:23:36 [29,361ms] [Warning] [carb.audio.context] 1 contexts were leaked
/home2/$USER$/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 3414963 Segmentation fault (core dumped)
There was an error running python
Issue Details
On a Ubuntu 22.04 computer, when running
bash build_docker.sh x86
for the step
RUN cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git && \
cd nvblox && cd nvblox && mkdir build && cd build && \
cmake .. -DPRE_CXX11_ABI_LINKABLE=ON && \
make -j32 && \
make install
I get the error:
25.88 [ 23%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/integrators/projective_occupancy_integrator.cu.o
25.88 [ 24%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/integrators/esdf_slicer.cu.o
25.89 [ 24%] Building CXX object CMakeFiles/nvblox_lib.dir/src/io/layer_cake_io.cpp.o
25.89 [ 25%] Building CXX object CMakeFiles/nvblox_lib.dir/src/io/ply_writer.cpp.o
26.26 [ 26%] Building CXX object CMakeFiles/nvblox_lib.dir/src/io/pointcloud_io.cpp.o
26.53 [ 26%] Building CXX object CMakeFiles/nvblox_lib.dir/src/io/image_io.cpp.o
27.07 [ 27%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/mesh/mesh_block.cu.o
27.46 [ 27%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/mesh/mesh_integrator_color.cu.o
28.05 [ 28%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/mesh/mesh_integrator.cu.o
28.31 [ 28%] Building CXX object CMakeFiles/nvblox_lib.dir/src/mesh/mesh.cpp.o
28.38 [ 29%] Building CXX object CMakeFiles/nvblox_lib.dir/src/mesh/mesh_streamer.cpp.o
31.55 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
31.58 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:366: CMakeFiles/nvblox_lib.dir/src/integrators/tsdf_decay_integrator.cu.o] Error 9
31.58 make[2]: *** Waiting for unfinished jobs....
32.33 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
32.34 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:150: CMakeFiles/nvblox_lib.dir/src/map/blox.cu.o] Error 9
32.77 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
32.77 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:222: CMakeFiles/nvblox_lib.dir/src/sensors/pointcloud.cu.o] Error 9
33.20 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
33.20 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:336: CMakeFiles/nvblox_lib.dir/src/integrators/view_calculator.cu.o] Error 9
50.82 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
50.83 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:381: CMakeFiles/nvblox_lib.dir/src/integrators/projective_occupancy_integrator.cu.o] Error 9
61.17 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
61.18 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:396: CMakeFiles/nvblox_lib.dir/src/integrators/projective_tsdf_integrator.cu.o] Error 9
70.05 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
70.06 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:351: CMakeFiles/nvblox_lib.dir/src/integrators/occupancy_decay_integrator.cu.o] Error 9
91.35 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
91.36 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:411: CMakeFiles/nvblox_lib.dir/src/integrators/projective_color_integrator.cu.o] Error 9
106.4 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
106.4 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:237: CMakeFiles/nvblox_lib.dir/src/sensors/image.cu.o] Error 9
124.3 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
124.4 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:165: CMakeFiles/nvblox_lib.dir/src/map/layer.cu.o] Error 9
166.9 nvcc error : 'cudafe++' died due to signal 9 (Kill signal)
166.9 make[2]: *** [CMakeFiles/nvblox_lib.dir/build.make:471: CMakeFiles/nvblox_lib.dir/src/rays/sphere_tracer.cu.o] Error 9
170.1 In file included from /pkgs/nvblox/nvblox/include/nvblox/core/unified_ptr.h:217,
170.1 from /pkgs/nvblox/nvblox/include/nvblox/sensors/image.h:22,
170.1 from /pkgs/nvblox/nvblox/include/nvblox/io/image_io.h:21,
170.1 from /pkgs/nvblox/nvblox/src/io/image_io.cpp:1:
170.1 In member function ‘nvblox::unified_ptr<T>& nvblox::unified_ptr<T>::operator=(nvblox::unified_ptr<T>&&) [with T = unsigned char []]’,
170.1 inlined from ‘nvblox::Image<_ElementType>& nvblox::Image<_ElementType>::operator=(nvblox::Image<_ElementType>&&) [with _ElementType = unsigned char]’ at /pkgs/nvblox/nvblox/include/nvblox/sensors/internal/impl/image_impl.h:48:15,
170.1 inlined from ‘bool nvblox::io::writeToPngTemplate(const string&, const ImageType&) [with ImageType = nvblox::Image<unsigned char>]’ at /pkgs/nvblox/nvblox/src/io/image_io.cpp:41:9:
170.1 /pkgs/nvblox/nvblox/include/nvblox/core/internal/impl/unified_ptr_impl.h:194:17: warning: ‘<unnamed>.nvblox::Image<unsigned char>::owned_data_.nvblox::unified_ptr<unsigned char []>::size_’ may be used uninitialized [-Wmaybe-uninitialized]
170.1 194 | size_ = other.size_;
170.1 | ~~~~~~^~~~~
170.1 /pkgs/nvblox/nvblox/src/io/image_io.cpp: In function ‘bool nvblox::io::writeToPngTemplate(const string&, const ImageType&) [with ImageType = nvblox::Image<unsigned char>]’:
170.1 /pkgs/nvblox/nvblox/src/io/image_io.cpp:41:11: note: ‘<anonymous>’ declared here
170.1 41 | tmp = ImageType(MemoryType::kHost);
170.1 | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
170.1 In file included from /pkgs/nvblox/nvblox/include/nvblox/core/unified_ptr.h:217,
170.1 from /pkgs/nvblox/nvblox/include/nvblox/sensors/image.h:22,
170.1 from /pkgs/nvblox/nvblox/include/nvblox/io/image_io.h:21,
170.1 from /pkgs/nvblox/nvblox/src/io/image_io.cpp:1:
170.1 In member function ‘nvblox::unified_ptr<T>& nvblox::unified_ptr<T>::operator=(nvblox::unified_ptr<T>&&) [with T = nvblox::Color []]’,
170.1 inlined from ‘nvblox::Image<_ElementType>& nvblox::Image<_ElementType>::operator=(nvblox::Image<_ElementType>&&) [with _ElementType = nvblox::Color]’ at /pkgs/nvblox/nvblox/include/nvblox/sensors/internal/impl/image_impl.h:48:15,
170.1 inlined from ‘bool nvblox::io::writeToPngTemplate(const string&, const ImageType&) [with ImageType = nvblox::Image<nvblox::Color>]’ at /pkgs/nvblox/nvblox/src/io/image_io.cpp:41:9:
170.1 /pkgs/nvblox/nvblox/include/nvblox/core/internal/impl/unified_ptr_impl.h:194:17: warning: ‘<unnamed>.nvblox::Image<nvblox::Color>::owned_data_.nvblox::unified_ptr<nvblox::Color []>::size_’ may be used uninitialized [-Wmaybe-uninitialized]
170.1 194 | size_ = other.size_;
170.1 | ~~~~~~^~~~~
170.1 /pkgs/nvblox/nvblox/src/io/image_io.cpp: In function ‘bool nvblox::io::writeToPngTemplate(const string&, const ImageType&) [with ImageType = nvblox::Image<nvblox::Color>]’:
170.1 /pkgs/nvblox/nvblox/src/io/image_io.cpp:41:11: note: ‘<anonymous>’ declared here
170.1 41 | tmp = ImageType(MemoryType::kHost);
170.1 | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
177.8 make[1]: *** [CMakeFiles/Makefile2:437: CMakeFiles/nvblox_lib.dir/all] Error 2
177.8 make: *** [Makefile:146: all] Error 2
------
x86.dockerfile:113
--------------------
112 |
113 | >>> RUN cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git && \
114 | >>> cd nvblox && cd nvblox && mkdir build && cd build && \
115 | >>> cmake .. -DPRE_CXX11_ABI_LINKABLE=ON && \
116 | >>> make -j32 && \
117 | >>> make install
118 |
--------------------
ERROR: failed to solve: process "/bin/sh -c cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git && cd nvblox && cd nvblox && mkdir build && cd build && cmake .. -DPRE_CXX11_ABI_LINKABLE=ON && make -j32 && make install" did not complete successfully: exit code: 2
Anyone knows what might be the issue?
When I try to rebuild it, another error occurs
Looking in indexes: https://pypi.org/simple, https://pypi.ngc.nvidia.com
Processing /pkgs/curobo
Preparing metadata (pyproject.toml): started
Preparing metadata (pyproject.toml): finished with status 'done'
Requirement already satisfied: networkx in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (2.6.3)
Requirement already satisfied: numpy in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (1.22.2)
WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'NewConnectionError('<pip._vendor.urllib3.connection.HTTPSConnection object at 0x7f914091b730>: Failed to establish a new connection: [Errno -3] Temporary failure in name resolution')': /compute/redist/numpy-quaternion/
WARNING: Retrying (Retry(total=3, connect=None, read=None, redirect=None, status=None)) after connection broken by 'NewConnectionError('<pip._vendor.urllib3.connection.HTTPSConnection object at 0x7f914091ba00>: Failed to establish a new connection: [Errno -3] Temporary failure in name resolution')': /compute/redist/numpy-quaternion/
WARNING: Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'NewConnectionError('<pip._vendor.urllib3.connection.HTTPSConnection object at 0x7f914091bbb0>: Failed to establish a new connection: [Errno -3] Temporary failure in name resolution')': /compute/redist/numpy-quaternion/
Collecting numpy-quaternion (from nvidia-curobo==0.0.0)
Obtaining dependency information for numpy-quaternion from https://files.pythonhosted.org/packages/54/cc/f354be1e9e3a0b1ea0ae61e800249c033e78e1ade5ff604f69decb3d3e41/numpy_quaternion-2023.0.2-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata
Downloading numpy_quaternion-2023.0.2-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (14 kB)
Requirement already satisfied: pyyaml in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (6.0.1)
Collecting setuptools-scm>=6.2 (from nvidia-curobo==0.0.0)
Obtaining dependency information for setuptools-scm>=6.2 from https://files.pythonhosted.org/packages/0e/a3/b9a8b0adfe672bf0df5901707aa929d30a97ee390ba651910186776746d2/setuptools_scm-8.0.4-py3-none-any.whl.metadata
Downloading setuptools_scm-8.0.4-py3-none-any.whl.metadata (6.4 kB)
Collecting torchtyping (from nvidia-curobo==0.0.0)
Downloading torchtyping-0.1.4-py3-none-any.whl (17 kB)
Requirement already satisfied: torch>=1.10 in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (2.1.0a0+29c30b1)
Requirement already satisfied: trimesh in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (4.0.8)
Collecting yourdfpy>=0.0.53 (from nvidia-curobo==0.0.0)
Downloading yourdfpy-0.0.53-py3-none-any.whl (22 kB)
Collecting warp-lang>=0.9.0 (from nvidia-curobo==0.0.0)
Obtaining dependency information for warp-lang>=0.9.0 from https://files.pythonhosted.org/packages/b8/3b/acbbde78d548b46502c044a0dc76ee6d362ce54f860aa7871f0e0d19a5a6/warp_lang-0.10.1-py3-none-manylinux2014_x86_64.whl.metadata
Downloading warp_lang-0.10.1-py3-none-manylinux2014_x86_64.whl.metadata (782 bytes)
Requirement already satisfied: scipy>=1.7.0 in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (1.11.1)
Requirement already satisfied: tqdm in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (4.65.0)
Requirement already satisfied: wheel in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (0.41.1)
Collecting importlib-resources (from nvidia-curobo==0.0.0)
Obtaining dependency information for importlib-resources from https://files.pythonhosted.org/packages/93/e8/facde510585869b5ec694e8e0363ffe4eba067cb357a8398a55f6a1f8023/importlib_resources-6.1.1-py3-none-any.whl.metadata
Downloading importlib_resources-6.1.1-py3-none-any.whl.metadata (4.1 kB)
Requirement already satisfied: ipdb in /usr/lib/python3/dist-packages (from nvidia-curobo==0.0.0) (0.13.9)
Requirement already satisfied: ipython in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (8.14.0)
Collecting black (from nvidia-curobo==0.0.0)
Obtaining dependency information for black from https://files.pythonhosted.org/packages/a4/dc/af67d8281e9a24f73d24b060f3f03f6d9ad6be259b3c6acef2845e17d09c/black-23.12.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata
Downloading black-23.12.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (68 kB)
���������������������������������������� 69.0/69.0 kB 11.1 MB/s eta 0:00:00
Collecting flake8 (from nvidia-curobo==0.0.0)
Obtaining dependency information for flake8 from https://files.pythonhosted.org/packages/b0/24/bbf7175ffc47cb3d3e1eb523ddb23272968359dfcf2e1294707a2bf12fc4/flake8-6.1.0-py2.py3-none-any.whl.metadata
Downloading flake8-6.1.0-py2.py3-none-any.whl.metadata (3.8 kB)
Collecting flake8-docstrings (from nvidia-curobo==0.0.0)
Downloading flake8_docstrings-1.7.0-py2.py3-none-any.whl (5.0 kB)
Collecting flake8-isort (from nvidia-curobo==0.0.0)
Obtaining dependency information for flake8-isort from https://files.pythonhosted.org/packages/82/d2/18aee7242bf5bc0d780d88009657c9169d042044d3cb3e05898429d474e6/flake8_isort-6.1.1-py3-none-any.whl.metadata
Downloading flake8_isort-6.1.1-py3-none-any.whl.metadata (25 kB)
Requirement already satisfied: pytest>6.2.5 in /usr/local/lib/python3.10/dist-packages (from nvidia-curobo==0.0.0) (7.4.0)
Collecting pytest-cov (from nvidia-curobo==0.0.0)
Obtaining dependency information for pytest-cov from https://files.pythonhosted.org/packages/a7/4b/8b78d126e275efa2379b1c2e09dc52cf70df16fc3b90613ef82531499d73/pytest_cov-4.1.0-py3-none-any.whl.metadata
Downloading pytest_cov-4.1.0-py3-none-any.whl.metadata (26 kB)
Collecting usd-core (from nvidia-curobo==0.0.0)
Obtaining dependency information for usd-core from https://files.pythonhosted.org/packages/69/cd/16227f45f599fd22ef77d3d80559c5b63cb95a41da8b27a4211858314cc7/usd_core-23.11-cp310-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata
Downloading usd_core-23.11-cp310-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (1.6 kB)
Requirement already satisfied: iniconfig in /usr/local/lib/python3.10/dist-packages (from pytest>6.2.5->nvidia-curobo==0.0.0) (2.0.0)
Requirement already satisfied: packaging in /usr/local/lib/python3.10/dist-packages (from pytest>6.2.5->nvidia-curobo==0.0.0) (23.1)
Requirement already satisfied: pluggy<2.0,>=0.12 in /usr/local/lib/python3.10/dist-packages (from pytest>6.2.5->nvidia-curobo==0.0.0) (1.2.0)
Requirement already satisfied: exceptiongroup>=1.0.0rc8 in /usr/local/lib/python3.10/dist-packages (from pytest>6.2.5->nvidia-curobo==0.0.0) (1.1.2)
Requirement already satisfied: tomli>=1.0.0 in /usr/local/lib/python3.10/dist-packages (from pytest>6.2.5->nvidia-curobo==0.0.0) (2.0.1)
Requirement already satisfied: setuptools in /usr/local/lib/python3.10/dist-packages (from setuptools-scm>=6.2->nvidia-curobo==0.0.0) (68.0.0)
Requirement already satisfied: typing-extensions in /usr/local/lib/python3.10/dist-packages (from setuptools-scm>=6.2->nvidia-curobo==0.0.0) (4.7.1)
Requirement already satisfied: filelock in /usr/local/lib/python3.10/dist-packages (from torch>=1.10->nvidia-curobo==0.0.0) (3.12.2)
Requirement already satisfied: sympy in /usr/local/lib/python3.10/dist-packages (from torch>=1.10->nvidia-curobo==0.0.0) (1.12)
Requirement already satisfied: jinja2 in /usr/local/lib/python3.10/dist-packages (from torch>=1.10->nvidia-curobo==0.0.0) (3.1.2)
Requirement already satisfied: fsspec in /usr/local/lib/python3.10/dist-packages (from torch>=1.10->nvidia-curobo==0.0.0) (2023.6.0)
Requirement already satisfied: lxml in /usr/lib/python3/dist-packages (from yourdfpy>=0.0.53->nvidia-curobo==0.0.0) (4.8.0)
Requirement already satisfied: six in /usr/local/lib/python3.10/dist-packages (from yourdfpy>=0.0.53->nvidia-curobo==0.0.0) (1.16.0)
Requirement already satisfied: click>=8.0.0 in /usr/local/lib/python3.10/dist-packages (from black->nvidia-curobo==0.0.0) (8.1.5)
Collecting mypy-extensions>=0.4.3 (from black->nvidia-curobo==0.0.0)
Downloading mypy_extensions-1.0.0-py3-none-any.whl (4.7 kB)
Collecting pathspec>=0.9.0 (from black->nvidia-curobo==0.0.0)
Obtaining dependency information for pathspec>=0.9.0 from https://files.pythonhosted.org/packages/cc/20/ff623b09d963f88bfde16306a54e12ee5ea43e9b597108672ff3a408aad6/pathspec-0.12.1-py3-none-any.whl.metadata
Downloading pathspec-0.12.1-py3-none-any.whl.metadata (21 kB)
Requirement already satisfied: platformdirs>=2 in /usr/local/lib/python3.10/dist-packages (from black->nvidia-curobo==0.0.0) (3.10.0)
Collecting mccabe<0.8.0,>=0.7.0 (from flake8->nvidia-curobo==0.0.0)
Downloading mccabe-0.7.0-py2.py3-none-any.whl (7.3 kB)
Collecting pycodestyle<2.12.0,>=2.11.0 (from flake8->nvidia-curobo==0.0.0)
Obtaining dependency information for pycodestyle<2.12.0,>=2.11.0 from https://files.pythonhosted.org/packages/b1/90/a998c550d0ddd07e38605bb5c455d00fcc177a800ff9cc3dafdcb3dd7b56/pycodestyle-2.11.1-py2.py3-none-any.whl.metadata
Downloading pycodestyle-2.11.1-py2.py3-none-any.whl.metadata (4.5 kB)
Collecting pyflakes<3.2.0,>=3.1.0 (from flake8->nvidia-curobo==0.0.0)
Obtaining dependency information for pyflakes<3.2.0,>=3.1.0 from https://files.pythonhosted.org/packages/00/e9/1e1fd7fae559bfd07704991e9a59dd1349b72423c904256c073ce88a9940/pyflakes-3.1.0-py2.py3-none-any.whl.metadata
Downloading pyflakes-3.1.0-py2.py3-none-any.whl.metadata (3.5 kB)
Collecting pydocstyle>=2.1 (from flake8-docstrings->nvidia-curobo==0.0.0)
Downloading pydocstyle-6.3.0-py3-none-any.whl (38 kB)
Collecting isort<6,>=5.0.0 (from flake8-isort->nvidia-curobo==0.0.0)
Obtaining dependency information for isort<6,>=5.0.0 from https://files.pythonhosted.org/packages/d1/b3/8def84f539e7d2289a02f0524b944b15d7c75dab7628bedf1c4f0992029c/isort-5.13.2-py3-none-any.whl.metadata
Downloading isort-5.13.2-py3-none-any.whl.metadata (12 kB)
Requirement already satisfied: decorator in /usr/local/lib/python3.10/dist-packages (from ipdb->nvidia-curobo==0.0.0) (5.1.1)
Requirement already satisfied: toml>=0.10.2 in /usr/local/lib/python3.10/dist-packages (from ipdb->nvidia-curobo==0.0.0) (0.10.2)
Requirement already satisfied: backcall in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (0.2.0)
Requirement already satisfied: jedi>=0.16 in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (0.19.0)
Requirement already satisfied: matplotlib-inline in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (0.1.6)
Requirement already satisfied: pickleshare in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (0.7.5)
Requirement already satisfied: prompt-toolkit!=3.0.37,<3.1.0,>=3.0.30 in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (3.0.39)
Requirement already satisfied: pygments>=2.4.0 in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (2.16.1)
Requirement already satisfied: stack-data in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (0.6.2)
Requirement already satisfied: traitlets>=5 in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (5.9.0)
Requirement already satisfied: pexpect>4.3 in /usr/local/lib/python3.10/dist-packages (from ipython->nvidia-curobo==0.0.0) (4.8.0)
Collecting coverage[toml]>=5.2.1 (from pytest-cov->nvidia-curobo==0.0.0)
Obtaining dependency information for coverage[toml]>=5.2.1 from https://files.pythonhosted.org/packages/b3/91/1f1c7f3351e4c996558e67bfe4f04084b7d01878e2bb55640652e1ee908f/coverage-7.4.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata
Downloading coverage-7.4.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (8.1 kB)
Collecting typeguard>=2.11.1 (from torchtyping->nvidia-curobo==0.0.0)
Obtaining dependency information for typeguard>=2.11.1 from https://files.pythonhosted.org/packages/18/01/5fc45558268ced46d86292763477996a3cdd505567cd590a688e8cdc386e/typeguard-4.1.5-py3-none-any.whl.metadata
Downloading typeguard-4.1.5-py3-none-any.whl.metadata (3.7 kB)
Requirement already satisfied: parso<0.9.0,>=0.8.3 in /usr/local/lib/python3.10/dist-packages (from jedi>=0.16->ipython->nvidia-curobo==0.0.0) (0.8.3)
Requirement already satisfied: ptyprocess>=0.5 in /usr/local/lib/python3.10/dist-packages (from pexpect>4.3->ipython->nvidia-curobo==0.0.0) (0.7.0)
Requirement already satisfied: wcwidth in /usr/local/lib/python3.10/dist-packages (from prompt-toolkit!=3.0.37,<3.1.0,>=3.0.30->ipython->nvidia-curobo==0.0.0) (0.2.6)
Collecting snowballstemmer>=2.2.0 (from pydocstyle>=2.1->flake8-docstrings->nvidia-curobo==0.0.0)
Downloading snowballstemmer-2.2.0-py2.py3-none-any.whl (93 kB)
��������������������������������������� 93.0/93.0 kB 144.8 MB/s eta 0:00:00
Collecting colorlog (from trimesh->nvidia-curobo==0.0.0)
Obtaining dependency information for colorlog from https://files.pythonhosted.org/packages/95/df/520663eb7f7a329f7c585834b754bcc3cbcc03957d85fcbba4a2a723ad9d/colorlog-6.8.0-py3-none-any.whl.metadata
Downloading colorlog-6.8.0-py3-none-any.whl.metadata (10 kB)
Collecting mapbox-earcut (from trimesh->nvidia-curobo==0.0.0)
Downloading mapbox_earcut-1.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (104 kB)
�������������������������������������� 104.9/104.9 kB 20.5 MB/s eta 0:00:00
Requirement already satisfied: chardet in /usr/lib/python3/dist-packages (from trimesh->nvidia-curobo==0.0.0) (4.0.0)
Requirement already satisfied: jsonschema in /usr/local/lib/python3.10/dist-packages (from trimesh->nvidia-curobo==0.0.0) (4.18.6)
Collecting svg.path (from trimesh->nvidia-curobo==0.0.0)
Downloading svg.path-6.3-py2.py3-none-any.whl (16 kB)
Requirement already satisfied: pycollada in /usr/local/lib/python3.10/dist-packages (from trimesh->nvidia-curobo==0.0.0) (0.6)
Collecting shapely (from trimesh->nvidia-curobo==0.0.0)
Obtaining dependency information for shapely from https://files.pythonhosted.org/packages/99/e9/a996a080d8478f4ab5ea82f64a5f39aaa8e05c99c2703e0ee03ec8c9e924/shapely-2.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata
Downloading shapely-2.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (7.0 kB)
Collecting xxhash (from trimesh->nvidia-curobo==0.0.0)
Obtaining dependency information for xxhash from https://files.pythonhosted.org/packages/80/8a/1dd41557883b6196f8f092011a5c1f72d4d44cf36d7b67d4a5efe3127949/xxhash-3.4.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata
Downloading xxhash-3.4.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (12 kB)
Collecting rtree (from trimesh->nvidia-curobo==0.0.0)
Obtaining dependency information for rtree from https://files.pythonhosted.org/packages/f2/04/74f48b042aabdafa122289957240f4c013aec8c9045c3ce2fe3d1fa7a937/Rtree-1.1.0-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata
Downloading Rtree-1.1.0-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (2.8 kB)
Collecting httpx (from trimesh->nvidia-curobo==0.0.0)
Obtaining dependency information for httpx from https://files.pythonhosted.org/packages/39/9b/4937d841aee9c2c8102d9a4eeb800c7dad25386caabb4a1bf5010df81a57/httpx-0.26.0-py3-none-any.whl.metadata
Downloading httpx-0.26.0-py3-none-any.whl.metadata (7.6 kB)
Collecting embreex (from trimesh->nvidia-curobo==0.0.0)
Obtaining dependency information for embreex from https://files.pythonhosted.org/packages/90/c7/f4abf09c6109c975e462c72ea4f9e2d72d78e20325dafb151c8e9789a31d/embreex-2.17.7.post4-cp310-cp310-manylinux_2_28_x86_64.whl.metadata
Downloading embreex-2.17.7.post4-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (3.0 kB)
Requirement already satisfied: pillow in /usr/local/lib/python3.10/dist-packages (from trimesh->nvidia-curobo==0.0.0) (9.2.0)
Requirement already satisfied: MarkupSafe>=2.0 in /usr/local/lib/python3.10/dist-packages (from jinja2->torch>=1.10->nvidia-curobo==0.0.0) (2.1.3)
Requirement already satisfied: executing>=1.2.0 in /usr/local/lib/python3.10/dist-packages (from stack-data->ipython->nvidia-curobo==0.0.0) (1.2.0)
Requirement already satisfied: asttokens>=2.1.0 in /usr/local/lib/python3.10/dist-packages (from stack-data->ipython->nvidia-curobo==0.0.0) (2.2.1)
Requirement already satisfied: pure-eval in /usr/local/lib/python3.10/dist-packages (from stack-data->ipython->nvidia-curobo==0.0.0) (0.2.2)
Requirement already satisfied: mpmath>=0.19 in /usr/local/lib/python3.10/dist-packages (from sympy->torch>=1.10->nvidia-curobo==0.0.0) (1.3.0)
Collecting anyio (from httpx->trimesh->nvidia-curobo==0.0.0)
Obtaining dependency information for anyio from https://files.pythonhosted.org/packages/bf/cd/d6d9bb1dadf73e7af02d18225cbd2c93f8552e13130484f1c8dcfece292b/anyio-4.2.0-py3-none-any.whl.metadata
Downloading anyio-4.2.0-py3-none-any.whl.metadata (4.6 kB)
Requirement already satisfied: certifi in /usr/local/lib/python3.10/dist-packages (from httpx->trimesh->nvidia-curobo==0.0.0) (2023.7.22)
Collecting httpcore==1.* (from httpx->trimesh->nvidia-curobo==0.0.0)
Obtaining dependency information for httpcore==1.* from https://files.pythonhosted.org/packages/56/ba/78b0a99c4da0ff8b0f59defa2f13ca4668189b134bd9840b6202a93d9a0f/httpcore-1.0.2-py3-none-any.whl.metadata
Downloading httpcore-1.0.2-py3-none-any.whl.metadata (20 kB)
Requirement already satisfied: idna in /usr/local/lib/python3.10/dist-packages (from httpx->trimesh->nvidia-curobo==0.0.0) (3.4)
Collecting sniffio (from httpx->trimesh->nvidia-curobo==0.0.0)
Downloading sniffio-1.3.0-py3-none-any.whl (10 kB)
Collecting h11<0.15,>=0.13 (from httpcore==1.*->httpx->trimesh->nvidia-curobo==0.0.0)
Downloading h11-0.14.0-py3-none-any.whl (58 kB)
��������������������������������������� 58.3/58.3 kB 264.5 MB/s eta 0:00:00
Requirement already satisfied: attrs>=22.2.0 in /usr/local/lib/python3.10/dist-packages (from jsonschema->trimesh->nvidia-curobo==0.0.0) (23.1.0)
Requirement already satisfied: jsonschema-specifications>=2023.03.6 in /usr/local/lib/python3.10/dist-packages (from jsonschema->trimesh->nvidia-curobo==0.0.0) (2023.7.1)
Requirement already satisfied: referencing>=0.28.4 in /usr/local/lib/python3.10/dist-packages (from jsonschema->trimesh->nvidia-curobo==0.0.0) (0.30.2)
Requirement already satisfied: rpds-py>=0.7.1 in /usr/local/lib/python3.10/dist-packages (from jsonschema->trimesh->nvidia-curobo==0.0.0) (0.9.2)
Requirement already satisfied: python-dateutil>=2.2 in /usr/local/lib/python3.10/dist-packages (from pycollada->trimesh->nvidia-curobo==0.0.0) (2.8.2)
Downloading setuptools_scm-8.0.4-py3-none-any.whl (42 kB)
���������������������������������������� 42.1/42.1 kB 493.2 MB/s eta 0:00:00
Downloading warp_lang-0.10.1-py3-none-manylinux2014_x86_64.whl (52.6 MB)
���������������������������������������� 52.6/52.6 MB 48.2 MB/s eta 0:00:00
Downloading black-23.12.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (1.7 MB)
���������������������������������������� 1.7/1.7 MB 62.1 MB/s eta 0:00:00
Downloading flake8-6.1.0-py2.py3-none-any.whl (58 kB)
���������������������������������������� 58.3/58.3 kB 147.4 MB/s eta 0:00:00
Downloading flake8_isort-6.1.1-py3-none-any.whl (18 kB)
Downloading importlib_resources-6.1.1-py3-none-any.whl (33 kB)
Downloading numpy_quaternion-2023.0.2-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl (195 kB)
���������������������������������������� 195.8/195.8 kB 79.6 MB/s eta 0:00:00
Downloading pytest_cov-4.1.0-py3-none-any.whl (21 kB)
Downloading usd_core-23.11-cp310-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (25.8 MB)
���������������������������������������� 25.8/25.8 MB 41.9 MB/s eta 0:00:00
Downloading isort-5.13.2-py3-none-any.whl (92 kB)
���������������������������������������� 92.3/92.3 kB 46.0 MB/s eta 0:00:00
Downloading pathspec-0.12.1-py3-none-any.whl (31 kB)
Downloading pycodestyle-2.11.1-py2.py3-none-any.whl (31 kB)
Downloading pyflakes-3.1.0-py2.py3-none-any.whl (62 kB)
���������������������������������������� 62.6/62.6 kB 207.6 MB/s eta 0:00:00
Downloading typeguard-4.1.5-py3-none-any.whl (34 kB)
Downloading colorlog-6.8.0-py3-none-any.whl (11 kB)
Downloading coverage-7.4.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl (233 kB)
��������������������������������������� 233.2/233.2 kB 123.5 MB/s eta 0:00:00
Downloading embreex-2.17.7.post4-cp310-cp310-manylinux_2_28_x86_64.whl (17.0 MB)
���������������������������������������� 17.0/17.0 MB 40.2 MB/s eta 0:00:00
Downloading httpx-0.26.0-py3-none-any.whl (75 kB)
���������������������������������������� 75.9/75.9 kB 183.3 MB/s eta 0:00:00
Downloading httpcore-1.0.2-py3-none-any.whl (76 kB)
���������������������������������������� 76.9/76.9 kB 112.4 MB/s eta 0:00:00
Downloading Rtree-1.1.0-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (488 kB)
���������������������������������������� 488.6/488.6 kB 73.6 MB/s eta 0:00:00
Downloading shapely-2.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (2.5 MB)
���������������������������������������� 2.5/2.5 MB 34.5 MB/s eta 0:00:00
Downloading xxhash-3.4.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (194 kB)
��������������������������������������� 194.1/194.1 kB 136.5 MB/s eta 0:00:00
Downloading anyio-4.2.0-py3-none-any.whl (85 kB)
���������������������������������������� 85.5/85.5 kB 239.5 MB/s eta 0:00:00
Building wheels for collected packages: nvidia-curobo
Building wheel for nvidia-curobo (pyproject.toml): started
Building wheel for nvidia-curobo (pyproject.toml): still running...
Building wheel for nvidia-curobo (pyproject.toml): finished with status 'error'
error: subprocess-exited-with-error
� Building wheel for nvidia-curobo (pyproject.toml) did not run successfully.
� exit code: 1
��> [703 lines of output]
No CUDA runtime is found, using CUDA_HOME='/usr/local/cuda'
/usr/local/lib/python3.10/dist-packages/setuptools/dist.py:745: SetuptoolsDeprecationWarning: Invalid dash-separated options
!!
********************************************************************************
Usage of dash-separated 'long-description-content-type' will not be supported in future
versions. Please use the underscore name 'long_description_content_type' instead.
This deprecation is overdue, please update your project and remove deprecated
calls to avoid build errors in the future.
See https://setuptools.pypa.io/en/latest/userguide/declarative_config.html for details.
********************************************************************************
!!
opt = self.warn_dash_deprecation(opt, section)
/usr/local/lib/python3.10/dist-packages/setuptools/config/setupcfg.py:293: _DeprecatedConfig: Deprecated config in `setup.cfg`
!!
********************************************************************************
The license_file parameter is deprecated, use license_files instead.
This deprecation is overdue, please update your project and remove deprecated
calls to avoid build errors in the future.
See https://setuptools.pypa.io/en/latest/userguide/declarative_config.html for details.
********************************************************************************
!!
parsed = self.parsers.get(option_name, lambda x: x)(value)
*********************************
CuRobo: Compiling CUDA kernels...
This will take 20+ minutes, to speedup compilation set TORCH_CUDA_ARCH_LIST={X}+PTX to compile only for a specific architecture. e.g., export TORCH_CUDA_ARCH_LIST=7.0+PTX
running bdist_wheel
running build
running build_py
creating build
creating build/lib.linux-x86_64-3.10
creating build/lib.linux-x86_64-3.10/curobo
copying src/curobo/__init__.py -> build/lib.linux-x86_64-3.10/curobo
copying src/curobo/util_file.py -> build/lib.linux-x86_64-3.10/curobo
creating build/lib.linux-x86_64-3.10/curobo/types
copying src/curobo/types/__init__.py -> build/lib.linux-x86_64-3.10/curobo/types
copying src/curobo/types/tensor.py -> build/lib.linux-x86_64-3.10/curobo/types
copying src/curobo/types/enum.py -> build/lib.linux-x86_64-3.10/curobo/types
copying src/curobo/types/camera.py -> build/lib.linux-x86_64-3.10/curobo/types
copying src/curobo/types/state.py -> build/lib.linux-x86_64-3.10/curobo/types
copying src/curobo/types/base.py -> build/lib.linux-x86_64-3.10/curobo/types
copying src/curobo/types/robot.py -> build/lib.linux-x86_64-3.10/curobo/types
copying src/curobo/types/math.py -> build/lib.linux-x86_64-3.10/curobo/types
creating build/lib.linux-x86_64-3.10/curobo/curobolib
copying src/curobo/curobolib/__init__.py -> build/lib.linux-x86_64-3.10/curobo/curobolib
copying src/curobo/curobolib/opt.py -> build/lib.linux-x86_64-3.10/curobo/curobolib
copying src/curobo/curobolib/tensor_step.py -> build/lib.linux-x86_64-3.10/curobo/curobolib
copying src/curobo/curobolib/kinematics.py -> build/lib.linux-x86_64-3.10/curobo/curobolib
copying src/curobo/curobolib/util_file.py -> build/lib.linux-x86_64-3.10/curobo/curobolib
copying src/curobo/curobolib/ls.py -> build/lib.linux-x86_64-3.10/curobo/curobolib
copying src/curobo/curobolib/geom.py -> build/lib.linux-x86_64-3.10/curobo/curobolib
creating build/lib.linux-x86_64-3.10/curobo/geom
copying src/curobo/geom/__init__.py -> build/lib.linux-x86_64-3.10/curobo/geom
copying src/curobo/geom/types.py -> build/lib.linux-x86_64-3.10/curobo/geom
copying src/curobo/geom/sphere_fit.py -> build/lib.linux-x86_64-3.10/curobo/geom
copying src/curobo/geom/transform.py -> build/lib.linux-x86_64-3.10/curobo/geom
package init file 'src/curobo/content/__init__.py' not found (or not a regular file)
creating build/lib.linux-x86_64-3.10/curobo/wrap
copying src/curobo/wrap/__init__.py -> build/lib.linux-x86_64-3.10/curobo/wrap
copying src/curobo/wrap/wrap_base.py -> build/lib.linux-x86_64-3.10/curobo/wrap
copying src/curobo/wrap/wrap_mpc.py -> build/lib.linux-x86_64-3.10/curobo/wrap
creating build/lib.linux-x86_64-3.10/curobo/graph
copying src/curobo/graph/__init__.py -> build/lib.linux-x86_64-3.10/curobo/graph
copying src/curobo/graph/graph_nx.py -> build/lib.linux-x86_64-3.10/curobo/graph
copying src/curobo/graph/prm.py -> build/lib.linux-x86_64-3.10/curobo/graph
copying src/curobo/graph/graph_base.py -> build/lib.linux-x86_64-3.10/curobo/graph
creating build/lib.linux-x86_64-3.10/curobo/opt
copying src/curobo/opt/__init__.py -> build/lib.linux-x86_64-3.10/curobo/opt
copying src/curobo/opt/opt_base.py -> build/lib.linux-x86_64-3.10/curobo/opt
creating build/lib.linux-x86_64-3.10/curobo/cuda_robot_model
copying src/curobo/cuda_robot_model/usd_kinematics_parser.py -> build/lib.linux-x86_64-3.10/curobo/cuda_robot_model
copying src/curobo/cuda_robot_model/__init__.py -> build/lib.linux-x86_64-3.10/curobo/cuda_robot_model
copying src/curobo/cuda_robot_model/types.py -> build/lib.linux-x86_64-3.10/curobo/cuda_robot_model
copying src/curobo/cuda_robot_model/cuda_robot_model.py -> build/lib.linux-x86_64-3.10/curobo/cuda_robot_model
copying src/curobo/cuda_robot_model/kinematics_parser.py -> build/lib.linux-x86_64-3.10/curobo/cuda_robot_model
copying src/curobo/cuda_robot_model/cuda_robot_generator.py -> build/lib.linux-x86_64-3.10/curobo/cuda_robot_model
copying src/curobo/cuda_robot_model/urdf_kinematics_parser.py -> build/lib.linux-x86_64-3.10/curobo/cuda_robot_model
creating build/lib.linux-x86_64-3.10/curobo/rollout
copying src/curobo/rollout/arm_base.py -> build/lib.linux-x86_64-3.10/curobo/rollout
copying src/curobo/rollout/__init__.py -> build/lib.linux-x86_64-3.10/curobo/rollout
copying src/curobo/rollout/rollout_base.py -> build/lib.linux-x86_64-3.10/curobo/rollout
copying src/curobo/rollout/arm_reacher.py -> build/lib.linux-x86_64-3.10/curobo/rollout
creating build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/logger.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/warp.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/__init__.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/torch_utils.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/error_metrics.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/tensor_util.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/trajectory.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/warp_interpolation.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/state_filter.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/usd_helper.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/sample_lib.py -> build/lib.linux-x86_64-3.10/curobo/util
copying src/curobo/util/helpers.py -> build/lib.linux-x86_64-3.10/curobo/util
package init file 'src/curobo/curobolib/cpp/__init__.py' not found (or not a regular file)
creating build/lib.linux-x86_64-3.10/curobo/geom/sdf
copying src/curobo/geom/sdf/warp_primitives.py -> build/lib.linux-x86_64-3.10/curobo/geom/sdf
copying src/curobo/geom/sdf/__init__.py -> build/lib.linux-x86_64-3.10/curobo/geom/sdf
copying src/curobo/geom/sdf/sdf_grid.py -> build/lib.linux-x86_64-3.10/curobo/geom/sdf
copying src/curobo/geom/sdf/world_mesh.py -> build/lib.linux-x86_64-3.10/curobo/geom/sdf
copying src/curobo/geom/sdf/world.py -> build/lib.linux-x86_64-3.10/curobo/geom/sdf
copying src/curobo/geom/sdf/world_blox.py -> build/lib.linux-x86_64-3.10/curobo/geom/sdf
copying src/curobo/geom/sdf/utils.py -> build/lib.linux-x86_64-3.10/curobo/geom/sdf
package init file 'src/curobo/content/assets/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/configs/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/scene/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/franka_description/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/jaco/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/ur_description/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/iiwa_allegro_description/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/arms/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/grippers/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/franka_description/meshes/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/franka_description/meshes/visual/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/franka_description/meshes/collision/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/urdf/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/meshes/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/jaco/meshes/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/ur_description/meshes/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/ur_description/meshes/ur5e/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/ur_description/meshes/ur10e/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/ur_description/meshes/ur5e/visual/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/ur_description/meshes/ur5e/collision/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/ur_description/meshes/ur10e/visual/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/ur_description/meshes/ur10e/collision/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/iiwa_allegro_description/meshes/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/iiwa_allegro_description/meshes/mounts/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/assets/scene/nvblox/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/configs/task/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/configs/robot/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/configs/world/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/configs/robot/spheres/__init__.py' not found (or not a regular file)
package init file 'src/curobo/content/configs/robot/isaac_sim_description/__init__.py' not found (or not a regular file)
creating build/lib.linux-x86_64-3.10/curobo/wrap/reacher
copying src/curobo/wrap/reacher/__init__.py -> build/lib.linux-x86_64-3.10/curobo/wrap/reacher
copying src/curobo/wrap/reacher/evaluator.py -> build/lib.linux-x86_64-3.10/curobo/wrap/reacher
copying src/curobo/wrap/reacher/types.py -> build/lib.linux-x86_64-3.10/curobo/wrap/reacher
copying src/curobo/wrap/reacher/trajopt.py -> build/lib.linux-x86_64-3.10/curobo/wrap/reacher
copying src/curobo/wrap/reacher/mpc.py -> build/lib.linux-x86_64-3.10/curobo/wrap/reacher
copying src/curobo/wrap/reacher/ik_solver.py -> build/lib.linux-x86_64-3.10/curobo/wrap/reacher
copying src/curobo/wrap/reacher/motion_gen.py -> build/lib.linux-x86_64-3.10/curobo/wrap/reacher
creating build/lib.linux-x86_64-3.10/curobo/wrap/model
copying src/curobo/wrap/model/robot_world.py -> build/lib.linux-x86_64-3.10/curobo/wrap/model
copying src/curobo/wrap/model/__init__.py -> build/lib.linux-x86_64-3.10/curobo/wrap/model
copying src/curobo/wrap/model/curobo_robot_world.py -> build/lib.linux-x86_64-3.10/curobo/wrap/model
creating build/lib.linux-x86_64-3.10/curobo/opt/particle
copying src/curobo/opt/particle/__init__.py -> build/lib.linux-x86_64-3.10/curobo/opt/particle
copying src/curobo/opt/particle/parallel_es.py -> build/lib.linux-x86_64-3.10/curobo/opt/particle
copying src/curobo/opt/particle/parallel_mppi.py -> build/lib.linux-x86_64-3.10/curobo/opt/particle
copying src/curobo/opt/particle/particle_opt_base.py -> build/lib.linux-x86_64-3.10/curobo/opt/particle
copying src/curobo/opt/particle/particle_opt_utils.py -> build/lib.linux-x86_64-3.10/curobo/opt/particle
creating build/lib.linux-x86_64-3.10/curobo/opt/newton
copying src/curobo/opt/newton/newton_base.py -> build/lib.linux-x86_64-3.10/curobo/opt/newton
copying src/curobo/opt/newton/__init__.py -> build/lib.linux-x86_64-3.10/curobo/opt/newton
copying src/curobo/opt/newton/lbfgs.py -> build/lib.linux-x86_64-3.10/curobo/opt/newton
creating build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/self_collision_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/projected_dist_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/__init__.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/bound_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/straight_line_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/zero_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/cost_base.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/dist_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/manipulability_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/primitive_collision_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/pose_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
copying src/curobo/rollout/cost/stop_cost.py -> build/lib.linux-x86_64-3.10/curobo/rollout/cost
creating build/lib.linux-x86_64-3.10/curobo/rollout/dynamics_model
copying src/curobo/rollout/dynamics_model/__init__.py -> build/lib.linux-x86_64-3.10/curobo/rollout/dynamics_model
copying src/curobo/rollout/dynamics_model/kinematic_model.py -> build/lib.linux-x86_64-3.10/curobo/rollout/dynamics_model
copying src/curobo/rollout/dynamics_model/tensor_step.py -> build/lib.linux-x86_64-3.10/curobo/rollout/dynamics_model
copying src/curobo/rollout/dynamics_model/model_base.py -> build/lib.linux-x86_64-3.10/curobo/rollout/dynamics_model
copying src/curobo/rollout/dynamics_model/integration_utils.py -> build/lib.linux-x86_64-3.10/curobo/rollout/dynamics_model
running egg_info
creating src/nvidia_curobo.egg-info
writing src/nvidia_curobo.egg-info/PKG-INFO
writing dependency_links to src/nvidia_curobo.egg-info/dependency_links.txt
writing requirements to src/nvidia_curobo.egg-info/requires.txt
writing top-level names to src/nvidia_curobo.egg-info/top_level.txt
writing manifest file 'src/nvidia_curobo.egg-info/SOURCES.txt'
reading manifest file 'src/nvidia_curobo.egg-info/SOURCES.txt'
reading manifest template 'MANIFEST.in'
adding license file 'LICENSE'
writing manifest file 'src/nvidia_curobo.egg-info/SOURCES.txt'
copying src/curobo/py.typed -> build/lib.linux-x86_64-3.10/curobo
creating build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/geom_cuda.cpp -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/kinematics_fused_cuda.cpp -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/kinematics_fused_kernel.cu -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/lbfgs_step_cuda.cpp -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/lbfgs_step_kernel.cu -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/line_search_cuda.cpp -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/line_search_kernel.cu -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/pose_distance_kernel.cu -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/self_collision_kernel.cu -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/sphere_obb_kernel.cu -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/tensor_step_cuda.cpp -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/tensor_step_kernel.cu -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
copying src/curobo/curobolib/cpp/update_best_kernel.cu -> build/lib.linux-x86_64-3.10/curobo/curobolib/cpp
creating build/lib.linux-x86_64-3.10/curobo/content
creating build/lib.linux-x86_64-3.10/curobo/content/assets
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova
copying src/curobo/content/assets/robot/kinova/README.md -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova
copying src/curobo/content/assets/robot/kinova/kinova_gen3_7dof.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/franka_panda.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/franka_panda_mobile.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/franka_panda_mobile_base.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/franka_panda_mobile_x.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/franka_panda_mobile_xy.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/franka_panda_mobile_xy_tz.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/franka_panda_no_gripper.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/franka_test.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/moving_gripper.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/panda.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/panda_grasp_gripper.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
copying src/curobo/content/assets/robot/franka_description/panda_gripper.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco
copying src/curobo/content/assets/robot/jaco/jaco_7n.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco
copying src/curobo/content/assets/robot/jaco/jaco_7s.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description
copying src/curobo/content/assets/robot/ur_description/dual_ur10e.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description
copying src/curobo/content/assets/robot/ur_description/quad_ur10e.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description
copying src/curobo/content/assets/robot/ur_description/tri_ur10e.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description
copying src/curobo/content/assets/robot/ur_description/ur10e.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description
copying src/curobo/content/assets/robot/ur_description/ur5e.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description
copying src/curobo/content/assets/robot/iiwa_allegro_description/allegro.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description
copying src/curobo/content/assets/robot/iiwa_allegro_description/iiwa.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description
copying src/curobo/content/assets/robot/iiwa_allegro_description/iiwa_allegro.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/base_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/bracelet_no_vision_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/end_effector_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/forearm_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
copying src/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/arms/gen3/7dof/meshes
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/LICENSE -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/README.md -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_base_link.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_finger.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_finger.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_pad.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_gripper_coupling.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/visual
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_base_link.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_finger.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision
copying src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/finger.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/finger.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/finger.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/graspnet_panda_mesh.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/hand.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/hand.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/hand.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/hand_ee_link.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/hand_gripper.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/hand_gripper.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link0.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link0.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link0.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link0.obj.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link1.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link1.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link1.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link1.obj.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link2.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link2.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link2.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link2.obj.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link3.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link3.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link3.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link3.obj.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link4.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link4.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link4.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link4.obj.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link5.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link5.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link5.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link5.obj.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link6.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link6.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link6.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link6.obj.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link7.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link7.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link7.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/link7.obj.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
copying src/curobo/content/assets/robot/franka_description/meshes/visual/train_gripper.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/visual
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/finger.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/finger.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/hand.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/hand.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/hand_flipped.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/hand_gripper.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/hand_gripper.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/hand_gripper_flipped.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link0.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link0.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link1.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link1.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link2.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link2.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link3.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link3.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link4.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link4.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link5.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link5.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link6.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link6.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link7.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
copying src/curobo/content/assets/robot/franka_description/meshes/collision/link7.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/franka_description/meshes/collision
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/urdf
copying src/curobo/content/assets/robot/techman/tm_description/urdf/tm12-nominal.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/urdf
copying src/curobo/content/assets/robot/techman/tm_description/urdf/tm12x-nominal.urdf -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/urdf
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-arm1.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-arm1.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-arm1.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-arm2.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-arm2.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-arm2.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-base.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-base.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tm12-base.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tmr_750w_01.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tmr_750w_01.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual/tmr_750w_01.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/visual
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision/tm12-arm1_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision/tm12-arm2_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision/tm12-base_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision/tmr_750w_01_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm12/collision
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-900_arm1.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-900_arm1.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-900_arm1.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-900_arm2.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-900_arm2.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-900_arm2.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-base.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-base.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tm5-base.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_100w_01.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_100w_01.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_100w_01.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_100w_02.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_100w_02.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_100w_02.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_400w_01.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_400w_01.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_400w_01.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_ee.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_ee.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_ee.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_iox.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_iox.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual/tmr_iox.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/visual
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/tm5-900_arm1_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/tm5-900_arm2_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/tm5-base_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/tmr_100w_01_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/tmr_100w_02_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/tmr_400w_01_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/tmr_ee_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
copying src/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision/tmr_iox_c.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/techman/tm_description/meshes/tm5-900/collision
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/arm.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/arm_half_1.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/arm_half_2.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/arm_mico.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/base.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/finger_distal.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/finger_proximal.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/forearm.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/forearm_mico.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/hand_2finger.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/hand_3finger.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/ring_big.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/ring_small.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/shoulder.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/wrist.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/wrist_spherical_1.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
copying src/curobo/content/assets/robot/jaco/meshes/wrist_spherical_2.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/jaco/meshes
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/visual/base.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/visual/forearm.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/visual/shoulder.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/visual/upperarm.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/visual/wrist1.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/visual/wrist2.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/visual/wrist3.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/visual
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/collision/base.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/collision/forearm.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/collision/shoulder.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/collision/upperarm.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/collision/wrist1.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/collision/wrist2.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur5e/collision/wrist3.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur5e/collision
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/visual/base.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/visual/forearm.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/visual/shoulder.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/visual/upperarm.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/visual/wrist1.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/visual/wrist2.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/visual
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/visual/wrist3.dae -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/visual
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/collision/base.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/collision/forearm.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/collision/shoulder.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/collision/upperarm.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/collision/wrist1.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/collision/wrist2.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/collision
copying src/curobo/content/assets/robot/ur_description/meshes/ur10e/collision/wrist3.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/ur_description/meshes/ur10e/collision
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/mounts
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/mounts/allegro_mount.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/mounts
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/mounts/allegro_mount.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/mounts
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac/biotac_sensor.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac/biotac_sensor.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac/biotac_sensor_thumb.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac/biotac_sensor_thumb.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/biotac
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/base_link.STL -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/base_link.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/primary_base.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/primary_base.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/primary_medial.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/primary_medial.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/primary_proximal.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/primary_proximal.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/thumb_base.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/thumb_base.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/thumb_medial.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/thumb_medial.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/thumb_proximal.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro/thumb_proximal.stl -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/allegro
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/link_0.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/link_1.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/link_2.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/link_3.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/link_4.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/link_5.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/link_6.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual/link_7.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/visual
creating build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/link_0.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/link_1.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/link_2.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/link_3.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/link_4.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/link_5.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/link_6.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
copying src/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision/link_7.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/robot/iiwa_allegro_description/meshes/iiwa7/collision
creating build/lib.linux-x86_64-3.10/curobo/content/assets/scene
creating build/lib.linux-x86_64-3.10/curobo/content/assets/scene/nvblox
copying src/curobo/content/assets/scene/nvblox/srl_ur10_bins.mtl -> build/lib.linux-x86_64-3.10/curobo/content/assets/scene/nvblox
copying src/curobo/content/assets/scene/nvblox/srl_ur10_bins.nvblx -> build/lib.linux-x86_64-3.10/curobo/content/assets/scene/nvblox
copying src/curobo/content/assets/scene/nvblox/srl_ur10_bins.obj -> build/lib.linux-x86_64-3.10/curobo/content/assets/scene/nvblox
copying src/curobo/content/assets/scene/nvblox/srl_ur10_bins_color.png -> build/lib.linux-x86_64-3.10/curobo/content/assets/scene/nvblox
creating build/lib.linux-x86_64-3.10/curobo/content/configs
creating build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/base_cfg.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/finetune_trajopt.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/gradient_ik.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/gradient_mpc.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/gradient_trajopt.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/graph.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/particle_ik.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/particle_mpc.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
copying src/curobo/content/configs/task/particle_trajopt.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/task
creating build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/dual_ur10e.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/franka.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/franka_mobile.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/iiwa.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/iiwa_allegro.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/jaco7.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/kinova_gen3.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/quad_ur10e.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/template.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/tm12.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/tri_ur10e.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/ur10e.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
copying src/curobo/content/configs/robot/ur5e.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot
creating build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_base.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_cage.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_cubby.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_floor_plan.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_handover.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_mesh_scene.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_nvblox.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_nvblox_online.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_nvblox_ur10.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_pillar_wall.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_primitives_3d.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_table.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_test.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_thin_walls.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
copying src/curobo/content/configs/world/collision_wall.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/world
creating build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/dual_ur10e.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/franka.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/franka_collision_mesh.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/franka_mesh.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/franka_mesh_inside.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/franka_mesh_mb.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/franka_real_robot.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/iiwa_allegro.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/kinova_gen3.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/quad_ur10e.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/single.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
copying src/curobo/content/configs/robot/spheres/ur10e.yml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/spheres
creating build/lib.linux-x86_64-3.10/curobo/content/configs/robot/isaac_sim_description
copying src/curobo/content/configs/robot/isaac_sim_description/jaco_7s.yaml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/isaac_sim_description
copying src/curobo/content/configs/robot/isaac_sim_description/tm12.yaml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/isaac_sim_description
copying src/curobo/content/configs/robot/isaac_sim_description/ur5e.yaml -> build/lib.linux-x86_64-3.10/curobo/content/configs/robot/isaac_sim_description
running build_ext
INFO: Disabling color, you really want to install colorlog.
Disabling color, you really want to install colorlog.
Emitting ninja build file /pkgs/curobo/build/temp.linux-x86_64-3.10/build.ninja...
Compiling objects...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
[1/2] c++ -MMD -MF /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/lbfgs_step_cuda.o.d -Wno-unused-result -Wsign-compare -DNDEBUG -g -fwrapv -O2 -Wall -g -fstack-protector-strong -Wformat -Werror=format-security -g -fwrapv -O2 -g -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/lbfgs_step_cuda.cpp -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/lbfgs_step_cuda.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=lbfgs_step_cu -D_GLIBCXX_USE_CXX11_ABI=1 -std=c++17
[2/2] /usr/local/cuda/bin/nvcc -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/lbfgs_step_kernel.cu -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/lbfgs_step_kernel.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' --threads=8 -O3 --ftz=true --fmad=true --prec-div=false --prec-sqrt=false -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=lbfgs_step_cu -D_GLIBCXX_USE_CXX11_ABI=1 -gencode=arch=compute_70,code=compute_70 -gencode=arch=compute_70,code=sm_70 -std=c++17
/pkgs/curobo/src/curobo/curobolib/cpp/lbfgs_step_kernel.cu(620): warning #1886-D: specified alignment (4) is different from alignment (8) specified on a previous declaration
extern __attribute__((shared)) __attribute__((aligned(sizeof(scalar_t)))) unsigned char my_smem[];
^
detected during instantiation of "void Curobo::Optimization::lbfgs_update_buffer_and_step<scalar_t,psum_t,rolled_ys>(scalar_t *, scalar_t *, scalar_t *, scalar_t *, scalar_t *, scalar_t *, scalar_t *, const scalar_t *, float, int, int, int, __nv_bool) [with scalar_t=float, psum_t=float, rolled_ys=false]" at line 808
Remark: The warnings can be suppressed with "-diag-suppress <warning-number>"
/pkgs/curobo/src/curobo/curobolib/cpp/lbfgs_step_kernel.cu(459): warning #1886-D: specified alignment (4) is different from alignment (8) specified on a previous declaration
extern __attribute__((shared)) __attribute__((aligned(sizeof(scalar_t)))) unsigned char my_smem[];
^
detected during instantiation of "void Curobo::Optimization::lbfgs_update_buffer_and_step_v1<scalar_t,psum_t,rolled_ys>(scalar_t *, scalar_t *, scalar_t *, scalar_t *, scalar_t *, scalar_t *, scalar_t *, const scalar_t *, float, int, int, int, __nv_bool) [with scalar_t=float, psum_t=float, rolled_ys=false]" at line 823
Emitting ninja build file /pkgs/curobo/build/temp.linux-x86_64-3.10/build.ninja...
Compiling objects...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
[1/2] c++ -MMD -MF /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/kinematics_fused_cuda.o.d -Wno-unused-result -Wsign-compare -DNDEBUG -g -fwrapv -O2 -Wall -g -fstack-protector-strong -Wformat -Werror=format-security -g -fwrapv -O2 -g -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/kinematics_fused_cuda.cpp -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/kinematics_fused_cuda.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=kinematics_fused_cu -D_GLIBCXX_USE_CXX11_ABI=1 -std=c++17
[2/2] /usr/local/cuda/bin/nvcc -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/kinematics_fused_kernel.cu -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/kinematics_fused_kernel.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' --threads=8 -O3 --ftz=true --fmad=true --prec-div=false --prec-sqrt=false -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=kinematics_fused_cu -D_GLIBCXX_USE_CXX11_ABI=1 -gencode=arch=compute_70,code=compute_70 -gencode=arch=compute_70,code=sm_70 -std=c++17
Emitting ninja build file /pkgs/curobo/build/temp.linux-x86_64-3.10/build.ninja...
Compiling objects...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
[1/4] c++ -MMD -MF /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/geom_cuda.o.d -Wno-unused-result -Wsign-compare -DNDEBUG -g -fwrapv -O2 -Wall -g -fstack-protector-strong -Wformat -Werror=format-security -g -fwrapv -O2 -g -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/geom_cuda.cpp -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/geom_cuda.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=geom_cu -D_GLIBCXX_USE_CXX11_ABI=1 -std=c++17
[2/4] /usr/local/cuda/bin/nvcc -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/self_collision_kernel.cu -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/self_collision_kernel.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' --threads=8 -O3 --ftz=true --fmad=true --prec-div=false --prec-sqrt=false -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=geom_cu -D_GLIBCXX_USE_CXX11_ABI=1 -gencode=arch=compute_70,code=compute_70 -gencode=arch=compute_70,code=sm_70 -std=c++17
FAILED: /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/self_collision_kernel.o
/usr/local/cuda/bin/nvcc -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/self_collision_kernel.cu -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/self_collision_kernel.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' --threads=8 -O3 --ftz=true --fmad=true --prec-div=false --prec-sqrt=false -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=geom_cu -D_GLIBCXX_USE_CXX11_ABI=1 -gencode=arch=compute_70,code=compute_70 -gencode=arch=compute_70,code=sm_70 -std=c++17
/bin/bash: line 1: 516 Killed cicc --c++17 --gnu_version=110400 --display_error_number --orig_src_file_name "/pkgs/curobo/src/curobo/curobolib/cpp/self_collision_kernel.cu" --orig_src_path_name "/pkgs/curobo/src/curobo/curobolib/cpp/self_collision_kernel.cu" --allow_managed --relaxed_constexpr -arch compute_70 -m64 --no-version-ident -ftz=1 -prec_div=0 -prec_sqrt=0 -fmad=1 --include_file_name "tmpxft_00000164_00000000-3_self_collision_kernel.fatbin.c" -tused --module_id_file_name "/tmp/tmpxft_00000164_00000000-4_self_collision_kernel.module_id" --gen_c_file_name "/tmp/tmpxft_00000164_00000000-6_self_collision_kernel.cudafe1.c" --stub_file_name "/tmp/tmpxft_00000164_00000000-6_self_collision_kernel.cudafe1.stub.c" --gen_device_file_name "/tmp/tmpxft_00000164_00000000-6_self_collision_kernel.cudafe1.gpu" "/tmp/tmpxft_00000164_00000000-7_self_collision_kernel.cpp1.ii" -o "/tmp/tmpxft_00000164_00000000-6_self_collision_kernel.ptx" > /tmp/tmpxft_00000164_00000000-10_2553ea0_stdout 2> /tmp/tmpxft_00000164_00000000-10_2553ea0_stderr
[3/4] /usr/local/cuda/bin/nvcc -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/pose_distance_kernel.cu -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/pose_distance_kernel.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' --threads=8 -O3 --ftz=true --fmad=true --prec-div=false --prec-sqrt=false -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=geom_cu -D_GLIBCXX_USE_CXX11_ABI=1 -gencode=arch=compute_70,code=compute_70 -gencode=arch=compute_70,code=sm_70 -std=c++17
[4/4] /usr/local/cuda/bin/nvcc -I/usr/local/lib/python3.10/dist-packages/torch/include -I/usr/local/lib/python3.10/dist-packages/torch/include/torch/csrc/api/include -I/usr/local/lib/python3.10/dist-packages/torch/include/TH -I/usr/local/lib/python3.10/dist-packages/torch/include/THC -I/usr/local/cuda/include -I/usr/include/python3.10 -c -c /pkgs/curobo/src/curobo/curobolib/cpp/sphere_obb_kernel.cu -o /pkgs/curobo/build/temp.linux-x86_64-3.10/src/curobo/curobolib/cpp/sphere_obb_kernel.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' --threads=8 -O3 --ftz=true --fmad=true --prec-div=false --prec-sqrt=false -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1016"' -DTORCH_EXTENSION_NAME=geom_cu -D_GLIBCXX_USE_CXX11_ABI=1 -gencode=arch=compute_70,code=compute_70 -gencode=arch=compute_70,code=sm_70 -std=c++17
/pkgs/curobo/src/curobo/curobolib/cpp/sphere_obb_kernel.cu(716): warning #177-D: variable "fl_sw_steps" was declared but never referenced
const float fl_sw_steps = sw_steps;
^
detected during instantiation of "void Curobo::Geometry::swept_sphere_obb_distance_jump_batch_env_kernel<scalar_t,enable_speed_metric>(const scalar_t *, scalar_t *, scalar_t *, uint8_t *, const scalar_t *, const scalar_t *, const scalar_t *, const scalar_t *, const scalar_t *, const scalar_t *, const uint8_t *, const int32_t *, const int32_t *, int, int, int, int, int, __nv_bool) [with scalar_t=double, enable_speed_metric=true]" at line 1423
Remark: The warnings can be suppressed with "-diag-suppress <warning-number>"
ninja: build stopped: subcommand failed.
Traceback (most recent call last):
File "/usr/local/lib/python3.10/dist-packages/torch/utils/cpp_extension.py", line 1916, in _run_ninja_build
subprocess.run(
File "/usr/lib/python3.10/subprocess.py", line 526, in run
raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command '['ninja', '-v']' returned non-zero exit status 1.
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/usr/local/lib/python3.10/dist-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 353, in <module>
main()
File "/usr/local/lib/python3.10/dist-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 335, in main
json_out['return_val'] = hook(**hook_input['kwargs'])
File "/usr/local/lib/python3.10/dist-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 251, in build_wheel
return _build_backend().build_wheel(wheel_directory, config_settings,
File "/usr/local/lib/python3.10/dist-packages/setuptools/build_meta.py", line 416, in build_wheel
return self._build_with_temp_dir(['bdist_wheel'], '.whl',
File "/usr/local/lib/python3.10/dist-packages/setuptools/build_meta.py", line 401, in _build_with_temp_dir
self.run_setup()
File "/usr/local/lib/python3.10/dist-packages/setuptools/build_meta.py", line 338, in run_setup
exec(code, locals())
File "<string>", line 87, in <module>
File "/usr/local/lib/python3.10/dist-packages/setuptools/__init__.py", line 107, in setup
return distutils.core.setup(**attrs)
File "/usr/lib/python3.10/distutils/core.py", line 148, in setup
dist.run_commands()
File "/usr/lib/python3.10/distutils/dist.py", line 966, in run_commands
self.run_command(cmd)
File "/usr/local/lib/python3.10/dist-packages/setuptools/dist.py", line 1234, in run_command
super().run_command(command)
File "/usr/lib/python3.10/distutils/dist.py", line 985, in run_command
cmd_obj.run()
File "/usr/local/lib/python3.10/dist-packages/wheel/bdist_wheel.py", line 349, in run
self.run_command("build")
File "/usr/lib/python3.10/distutils/cmd.py", line 313, in run_command
self.distribution.run_command(command)
File "/usr/local/lib/python3.10/dist-packages/setuptools/dist.py", line 1234, in run_command
super().run_command(command)
File "/usr/lib/python3.10/distutils/dist.py", line 985, in run_command
cmd_obj.run()
File "/usr/lib/python3.10/distutils/command/build.py", line 135, in run
self.run_command(cmd_name)
File "/usr/lib/python3.10/distutils/cmd.py", line 313, in run_command
self.distribution.run_command(command)
File "/usr/local/lib/python3.10/dist-packages/setuptools/dist.py", line 1234, in run_command
super().run_command(command)
File "/usr/lib/python3.10/distutils/dist.py", line 985, in run_command
cmd_obj.run()
File "/usr/local/lib/python3.10/dist-packages/setuptools/command/build_ext.py", line 84, in run
_build_ext.run(self)
File "/usr/lib/python3.10/distutils/command/build_ext.py", line 340, in run
self.build_extensions()
File "/usr/local/lib/python3.10/dist-packages/torch/utils/cpp_extension.py", line 864, in build_extensions
build_ext.build_extensions(self)
File "/usr/lib/python3.10/distutils/command/build_ext.py", line 449, in build_extensions
self._build_extensions_serial()
File "/usr/lib/python3.10/distutils/command/build_ext.py", line 474, in _build_extensions_serial
self.build_extension(ext)
File "/usr/local/lib/python3.10/dist-packages/setuptools/command/build_ext.py", line 246, in build_extension
_build_ext.build_extension(self, ext)
File "/usr/local/lib/python3.10/dist-packages/Cython/Distutils/build_ext.py", line 127, in build_extension
super(build_ext, self).build_extension(ext)
File "/usr/lib/python3.10/distutils/command/build_ext.py", line 529, in build_extension
objects = self.compiler.compile(sources,
File "/usr/local/lib/python3.10/dist-packages/torch/utils/cpp_extension.py", line 677, in unix_wrap_ninja_compile
_write_ninja_file_and_compile_objects(
File "/usr/local/lib/python3.10/dist-packages/torch/utils/cpp_extension.py", line 1589, in _write_ninja_file_and_compile_objects
_run_ninja_build(
File "/usr/local/lib/python3.10/dist-packages/torch/utils/cpp_extension.py", line 1932, in _run_ninja_build
raise RuntimeError(message) from e
RuntimeError: Error compiling objects for extension
[end of output]
note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for nvidia-curobo
Failed to build nvidia-curobo
ERROR: Could not build wheels for nvidia-curobo, which is required to install pyproject.toml-based projects
[notice] A new release of pip is available: 23.2.1 -> 23.3.2
[notice] To update, run: python -m pip install --upgrade pip
Thanks in advance!
Hello,
I am getting an error when trying to use NVBlox with cuRobo. This happens both when I use the motion_gen_reacher_nvblox.py
script with IsaacSim, and when I simply instantiate and warmup the MotionGen
class in Python. Everything is working properly if I use motion_gen_reacher.py
, but not motion_gen_reacher_nvblox.py
.
The error is RuntimeError: CUDA error: an illegal memory access was encountered
.
My setup is:
/isaac-sim/python.sh curobo/examples/isaac_sim/motion_gen_reacher_nvblox.py --robot /ros_ws/src/curobo_ros/cfg/amiga.yaml --visualize_spheres
[14.954s] app ready
[15.212s] RTX ready
[15.356s] Simulation App Startup Complete
torchtyping could not be imported, falling back to basic types
2023-11-14 09:34:46 [19,734ms] [Warning] [omni.isaac.urdf] The path amiga_arm_base_link-base_link_inertia is not a valid usd path, modifying to amiga_arm_base_link_base_link_inertia
2023-11-14 09:34:46 [19,734ms] [Warning] [omni.isaac.urdf] The path amiga_arm_base_link-base_fixed_joint is not a valid usd path, modifying to amiga_arm_base_link_base_fixed_joint
2023-11-14 09:34:46 [19,734ms] [Warning] [omni.isaac.urdf] The path amiga_arm_wrist_3-flange is not a valid usd path, modifying to amiga_arm_wrist_3_flange
2023-11-14 09:34:46 [19,734ms] [Warning] [omni.isaac.urdf] The path amiga_arm_flange-tool0 is not a valid usd path, modifying to amiga_arm_flange_tool0
2023-11-14 09:34:46 [19,734ms] [Warning] [omni.isaac.urdf] The path amig_arm_wrist_3_link-amiga_grip_camera_mount_link is not a valid usd path, modifying to amig_arm_wrist_3_link_amiga_grip_camera_mount_link
/World/amiga/Looks/material_Material_001_1
WARNING: Logging before InitGoogleLogging() is written to STDERR
I1114 09:35:34.738322 29 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
I1114 09:35:34.738354 29 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
I1114 09:35:34.738360 29 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
I1114 09:35:34.738365 29 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
I1114 09:35:34.738370 29 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
E1114 09:35:34.744175 29 sqlite_database.cpp:192] Preparing query failed: file is not a database
E1114 09:35:34.744215 29 mapper.cpp:238] Failed to load map from file: /curobo/curobo/src/curobo/content/assets/scene/nvblox/srl_ur10_bins.nvblx
warming up...
/curobo/curobo/src/curobo/opt/particle/parallel_mppi.py:224: UserWarning: FALLBACK path has been taken inside: runCudaFusionGroup. This is an indication that codegen Failed for some reason.
To debug try disable codegen fallback path via setting the env variable `export PYTORCH_NVFUSER_DISABLE=fallback`
(Triggered internally at ../torch/csrc/jit/codegen/cuda/manager.cpp:331.)
cov_update = jit_diag_a_cov_update(w, actions, self.mean_action)
/curobo/curobo/src/curobo/opt/particle/parallel_mppi.py:297: UserWarning: FALLBACK path has been taken inside: runCudaFusionGroup. This is an indication that codegen Failed for some reason.
To debug try disable codegen fallback path via setting the env variable `export PYTORCH_NVFUSER_DISABLE=fallback`
(Triggered internally at ../torch/csrc/jit/codegen/cuda/manager.cpp:331.)
new_cov = jit_blend_cov(self.cov_action, cov_update, self.step_size_cov, self.kappa)
/curobo/curobo/src/curobo/opt/particle/parallel_mppi.py:301: UserWarning: FALLBACK path has been taken inside: runCudaFusionGroup. This is an indication that codegen Failed for some reason.
To debug try disable codegen fallback path via setting the env variable `export PYTORCH_NVFUSER_DISABLE=fallback`
(Triggered internally at ../torch/csrc/jit/codegen/cuda/manager.cpp:331.)
new_mean = jit_blend_mean(self.mean_action, new_mean, self.step_size_mean)
Traceback (most recent call last):
File "curobo/examples/isaac_sim/motion_gen_reacher_nvblox.py", line 300, in <module>
main()
File "curobo/examples/isaac_sim/motion_gen_reacher_nvblox.py", line 163, in main
motion_gen.warmup(enable_graph=True, warmup_js_trajopt=False)
File "/curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1858, in warmup
link_poses=link_poses,
File "/curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1215, in plan_single
link_poses=link_poses,
File "/curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1037, in _plan_attempts
link_poses,
File "/curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1513, in _plan_from_solve_state
newton_iters=trajopt_newton_iters,
File "/isaac-sim/kit/python/lib/python3.7/contextlib.py", line 74, in inner
return func(*args, **kwds)
File "/curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 909, in _solve_trajopt_from_solve_state
newton_iters=newton_iters,
File "/curobo/curobo/src/curobo/wrap/reacher/trajopt.py", line 496, in solve_any
newton_iters=newton_iters,
File "/curobo/curobo/src/curobo/wrap/reacher/trajopt.py", line 618, in solve_single
newton_iters=newton_iters,
File "/curobo/curobo/src/curobo/wrap/reacher/trajopt.py", line 577, in solve_from_solve_state
result = self.solver.solve(goal_buffer, seed_traj)
File "/curobo/curobo/src/curobo/wrap/wrap_base.py", line 138, in solve
act_seq = self.optimize(seed, shift_steps=0)
File "/curobo/curobo/src/curobo/wrap/wrap_base.py", line 70, in optimize
act_seq = opt.optimize(act_seq, shift_steps)
File "/curobo/curobo/src/curobo/opt/opt_base.py", line 93, in optimize
out = self._optimize(opt_tensor, shift_steps, n_iters)
File "/curobo/curobo/src/curobo/opt/particle/particle_opt_base.py", line 216, in _optimize
self._initialize_cuda_graph(init_act, shift_steps=shift_steps)
File "/curobo/curobo/src/curobo/opt/particle/particle_opt_base.py", line 235, in _initialize_cuda_graph
self._cu_act_seq = self._run_opt_iters(self._cu_act_in, shift_steps=shift_steps)
File "/curobo/curobo/src/curobo/opt/particle/particle_opt_base.py", line 260, in _run_opt_iters
trajectory = self.generate_rollouts()
File "/isaac-sim/extscache/omni.pip.torch-1_13_1-0.1.4+104.2.lx64/torch-1-13-1/torch/autograd/grad_mode.py", line 27, in decorate_context
return func(*args, **kwargs)
File "/curobo/curobo/src/curobo/opt/particle/parallel_mppi.py", line 578, in generate_rollouts
return super().generate_rollouts(init_act)
File "/curobo/curobo/src/curobo/opt/particle/particle_opt_base.py", line 178, in generate_rollouts
act_seq = self.sample_actions(init_act)
File "/isaac-sim/extscache/omni.pip.torch-1_13_1-0.1.4+104.2.lx64/torch-1-13-1/torch/autograd/grad_mode.py", line 27, in decorate_context
return func(*args, **kwargs)
File "/curobo/curobo/src/curobo/opt/particle/parallel_mppi.py", line 306, in sample_actions
delta = torch.index_select(self._sample_set, 0, self._sample_iter).squeeze(0)
RuntimeError: CUDA error: an illegal memory access was encountered
CUDA kernel errors might be asynchronously reported at some other API call,so the stacktrace below might be incorrect.
For debugging consider passing CUDA_LAUNCH_BLOCKING=1.
Exception ignored in: <function DefaultStage.__del__ at 0x7f231d4610e0>
Traceback (most recent call last):
File "/isaac-sim/kit/exts/omni.kit.stage_templates/omni/kit/stage_templates/templates/default_stage.py", line 13, in __del__
File "/isaac-sim/kit/exts/omni.kit.stage_templates/omni/kit/stage_templates/new_stage.py", line 280, in unregister_template
TypeError: 'NoneType' object is not callable
Exception ignored in: <function SunlightStage.__del__ at 0x7f231d456b00>
Traceback (most recent call last):
File "/isaac-sim/kit/exts/omni.kit.stage_templates/omni/kit/stage_templates/templates/sunlight.py", line 13, in __del__
File "/isaac-sim/kit/exts/omni.kit.stage_templates/omni/kit/stage_templates/new_stage.py", line 280, in unregister_template
TypeError: 'NoneType' object is not callable
/isaac-sim/python.sh: line 41: 29 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python
Here is the code I tried when using Python only:
motion_gen_config = MotionGenConfig.load_from_robot_config(
robot_cfg,
world_cfg,
tensor_args,
trajopt_tsteps=32,
collision_checker_type=CollisionCheckerType.BLOX,
use_cuda_graph=True,
num_trajopt_seeds=12,
num_graph_seeds=12,
interpolation_dt=0.03,
collision_activation_distance=0.025,
acceleration_scale=1.0,
self_collision_check=True,
maximum_trajectory_dt=0.25,
finetune_dt_scale=1.05,
fixed_iters_trajopt=True,
finetune_trajopt_iters=300,
minimize_jerk=True,
)
motion_gen = MotionGen(motion_gen_config)
motion_gen.warmup(warmup_js_trajopt=False)
I added some debug prints in curobo/wrap/reacher/motion_gen.py
; here is what plan_single
is getting as inputs:
start_state = JointState(
position=tensor([[0.1000, 0.1000, 0.1000, 0.1000, 0.1000, 0.1000]], device='cuda:0'),
velocity=tensor([[0., 0., 0., 0., 0., 0.]], device='cuda:0'),
acceleration=tensor([[0., 0., 0., 0., 0., 0.]], device='cuda:0'),
joint_names=['amiga_arm_shoulder_pan_joint', 'amiga_arm_shoulder_lift_joint', 'amiga_arm_elbow_joint', 'amiga_arm_wrist_1_joint', 'amiga_arm_wrist_2_joint', 'amiga_arm_wrist_3_joint'],
jerk=tensor([[0., 0., 0., 0., 0., 0.]], device='cuda:0')
tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32)
)
retract_pose = Pose(
position=tensor([[ 0.3911, -1.1841, 0.3609]], device='cuda:0'),
quaternion=tensor([[ 0.2708, 0.6531, 0.6533, -0.2707]], device='cuda:0'),
rotation=None,
batch=1, n_goalset=1, name='ee_link', normalize_rotation=True
)
link_poses = {'amiga_gripper_palm': Pose(
position=tensor([[ 0.3911, -1.1841, 0.3609]], device='cuda:0'),
quaternion=tensor([[ 0.2708, 0.6531, 0.6533, -0.2707]], device='cuda:0'),
rotation=None, batch=1, n_goalset=1, name='ee_link', normalize_rotation=False
)}
###################################################################################################
######################################### CMake version ###########################################
###################################################################################################
RUN wget https://cmake.org/files/v3.19/cmake-3.19.5.tar.gz && tar -xvzf cmake-3.19.5.tar.gz
RUN DEBIAN_FRONTEND=noninteractive apt-get install -y build-essential checkinstall zlib1g-dev libssl-dev
RUN cd cmake-3.19.5 && ./bootstrap
RUN cd cmake-3.19.5 && make -j `nproc` && make install
RUN rm -rf cmake-3.19.5.tar.gz
####################################################################################################
############################################## nvblox ##############################################
####################################################################################################
RUN git clone https://github.com/valtsblukis/nvblox.git
RUN apt-get install -y libgoogle-glog-dev libgtest-dev libgflags-dev python3-dev libsqlite3-dev
RUN cd /usr/src/googletest && sudo cmake . && sudo cmake --build . --target install
RUN cd nvblox && cd nvblox && mkdir build && cd build && \
cmake .. -DPRE_CXX11_ABI_LINKABLE=ON -DCMAKE_CUDA_FLAGS="-gencode=arch=compute_86,code=sm_86" -DCMAKE_CUDA_ARCHITECTURES="86" -DSTDGPU_CUDA_ARCHITECTURE_FLAGS_USER="86" -DBUILD_FOR_ALL_ARCHS=ON &&\
make -j `nproc` &&\
make install
RUN git clone https://github.com/nvlabs/nvblox_torch.git
RUN cd nvblox_torch && sh install.sh
####################################################################################################
############################################## curobo ##############################################
####################################################################################################
RUN git clone https://github.com/NVlabs/curobo.git
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
ENV PATH="${PATH}:/opt/hpcx/ompi/bin"
ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/hpcx/ompi/lib"
ENV LD_LIBRARY_PATH="/usr/local/lib:${LD_LIBRARY_PATH}"
RUN cd curobo && pip install -e . --no-build-isolation
Do you have any ideas what may be causing it?
Thank you for your help!
I try to install curobo via conda(Ubuntu=18.04 python=3.7 cuda=11.3 pytorch=1.12.1),Install git lfs with "sudo apt install git-lfs"and run "pip install -e . --no-build-isolation" successful.But when running "python3 -m pytest", there always be error "RuntimeError: Incompatible data types: torch.float64 and <class 'warp.types.vec4f'>". Is anything wrong?Really thanks for your help.
Hi, I was trying to build sphere model for xarm7 (which is not provided by default in curobo). Spheres are fitting joints instead of links.
URDF : https://drive.google.com/file/d/15mpdO20_NXHT8zGIXS_X6gOnTpc5biYx/view?usp=sharing
USD : https://drive.google.com/file/d/179Jmx-5bW3uxbX5I8bk_qkOby5i7vSJ7/view?usp=drive_link
yml file: https://drive.google.com/file/d/1rg1XP9KHyKcymljtMYX_doApf2QBbCIQ/view?usp=sharing
Screenshots of the sphere model for first 3 links. Could you please help me understand why is it modelling that way?
Let me know if you need further information.
when I run curobo with isaac sim 2023, I do not know what the warning meanings, does this meaning curobo is not correctly installed, and what is the jit ?
my env is
python 3.10 in conda, cuda version is 11.7.1, pytorch version is 2.0.1
the warning is :
2023-12-11 15:40:41 [9,417ms] [Warning] [curobo] geom_cu binary not found, jit compiling...
2023-12-11 15:40:41 [9,784ms] [Warning] [curobo] kinematics_fused_cu not found, JIT compiling...
2023-12-11 15:40:41 [9,801ms] [Warning] [curobo] torchtyping could not be imported, falling back to basic types
2023-12-11 15:40:42 [10,227ms] [Warning] [curobo] tensor_step_cu not found, jit compiling...
2023-12-11 15:40:42 [10,469ms] [Warning] [curobo] lbfgs_step_cu not found, JIT compiling...
2023-12-11 15:40:42 [10,476ms] [Warning] [curobo] line_search_cu not found, JIT compiling...
and I also what to know what is the usage of those files, geom_cu binary, kinematics_fused_cu, and where should they be, thank you!
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Issue Details
I wonder why the docker of isaac_sim do not have installed pytorch.
The version of cuda in the image is 11.4, and directly available pytorch cannot be found. I wonder if I did something wrong?
My build command:
cd docker
bash build_dev_docker.sh isaac_sim_2022.2.1
Running Curobo examples in Isaac Sim 2022.2.1 result in broken simulation. Simulation runs but Franka Panda is not imported. For example, running motion_gen_reacher.py gives the following warnings and errors:
2023-10-31 05:16:49 [152,960ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [152,960ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link0/visuals not created
2023-10-31 05:16:49 [152,971ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [152,971ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link1/visuals not created
2023-10-31 05:16:49 [152,984ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [152,984ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link2/visuals not created
2023-10-31 05:16:49 [152,998ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [152,998ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link3/visuals not created
2023-10-31 05:16:49 [153,010ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [153,010ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link4/visuals not created
2023-10-31 05:16:49 [153,022ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [153,022ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link5/visuals not created
2023-10-31 05:16:49 [153,033ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [153,033ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link6/visuals not created
2023-10-31 05:16:49 [153,045ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [153,045ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link7/visuals not created
2023-10-31 05:16:49 [153,057ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [153,057ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_hand/visuals not created
2023-10-31 05:16:49 [153,070ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [153,070ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_leftfinger/visuals not created
2023-10-31 05:16:49 [153,082ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2023-10-31 05:16:49 [153,082ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_rightfinger/visuals not created
2023-10-31 05:17:02 [166,582ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_hand/collisions
2023-10-31 05:17:02 [166,582ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link7/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link6/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link5/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_rightfinger/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link2/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_leftfinger/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link3/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link1/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link4/collisions
2023-10-31 05:17:02 [166,583ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link0/collisions
Thanks for contributing all your work. It's really interesting and it will take some time to digest all of it... 🐱
I would like to ask you to clarify the comparison to BiRRT you show in your readme and documentation.
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Hi @balakumar-s , I just execute the example. But the time cost for franka IK example is strange and does not math the time mentioned in the paper.
➜ curobo git:(main) ✗ python3 examples/ik_example_franka.py
--------------------------------------------------
Running demo_basic_ik
Success, Solve Time(s), Total Time(s) 1.0 1.0106189250946045 0.7667928535113149 tensor(0.0008, device='cuda:0') tensor(0.0066, device='cuda:0')
--------------------------------------------------
Running demo_full_config_collision_free_ik
Success, Solve Time(s), Total Time(s) 1.0 0.15874934196472168 0.4029872417449951 2.481468136980839 tensor(0.0005, device='cuda:0') tensor(0.0034, device='cuda:0')
--------------------------------------------------
Running demo_full_config_batch_env_collision_free_ik
Success, Solve Time(s), Total Time(s) 1.0 0.48165225982666016 0.5924277305603027
Running Batch Env Goalset IK
Success, Solve Time(s), Total Time(s) 1.0 0.18120265007019043 0.39771509170532227
➜ curobo git:(main) ✗
# Standard Library
import time
# Third Party
import torch
# CuRobo
from curobo.geom.types import WorldConfig
from curobo.types.base import TensorDeviceType
from curobo.types.math import Pose
from curobo.types.robot import RobotConfig
from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
torch.backends.cudnn.benchmark = True
torch.backends.cuda.matmul.allow_tf32 = True
torch.backends.cudnn.allow_tf32 = True
def demo_basic_ik():
tensor_args = TensorDeviceType()
config_file = load_yaml(join_path(get_robot_configs_path(), "franka.yml"))
urdf_file = config_file["robot_cfg"]["kinematics"][
"urdf_path"
] # Send global path starting with "/"
base_link = config_file["robot_cfg"]["kinematics"]["base_link"]
ee_link = config_file["robot_cfg"]["kinematics"]["ee_link"]
robot_cfg = RobotConfig.from_basic(urdf_file, base_link, ee_link, tensor_args)
ik_config = IKSolverConfig.load_from_robot_config(
robot_cfg,
None,
rotation_threshold=0.05,
position_threshold=0.005,
num_seeds=20,
self_collision_check=False,
self_collision_opt=False,
tensor_args=tensor_args,
use_cuda_graph=False,
)
ik_solver = IKSolver(ik_config)
print("Running demo_basic_ik")
for _ in range(1):
q_sample = ik_solver.sample_configs(1)
kin_state = ik_solver.fk(q_sample)
goal = Pose(kin_state.ee_position, kin_state.ee_quaternion)
st_time = time.time()
result = ik_solver.solve_batch(goal)
torch.cuda.synchronize()
print(
"Success, Solve Time(s), Total Time(s) ",
torch.count_nonzero(result.success).item() / len(q_sample),
result.solve_time,
q_sample.shape[0] / (time.time() - st_time),
torch.mean(result.position_error) * 100.0,
torch.mean(result.rotation_error) * 100.0,
)
def demo_full_config_collision_free_ik():
tensor_args = TensorDeviceType()
world_file = "collision_cage.yml"
robot_file = "franka.yml"
robot_cfg = RobotConfig.from_dict(
load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
)
world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
ik_config = IKSolverConfig.load_from_robot_config(
robot_cfg,
world_cfg,
rotation_threshold=0.05,
position_threshold=0.005,
num_seeds=20,
self_collision_check=True,
self_collision_opt=True,
tensor_args=tensor_args,
use_cuda_graph=True,
# use_fixed_samples=True,
)
ik_solver = IKSolver(ik_config)
# print(kin_state)
print("Running demo_full_config_collision_free_ik")
for _ in range(1):
q_sample = ik_solver.sample_configs(1)
kin_state = ik_solver.fk(q_sample)
goal = Pose(kin_state.ee_position, kin_state.ee_quaternion)
st_time = time.time()
result = ik_solver.solve_batch(goal)
torch.cuda.synchronize()
total_time = (time.time() - st_time) / q_sample.shape[0]
print(
"Success, Solve Time(s), Total Time(s)",
torch.count_nonzero(result.success).item() / len(q_sample),
result.solve_time,
total_time,
1.0 / total_time,
torch.mean(result.position_error) * 100.0,
torch.mean(result.rotation_error) * 100.0,
)
def demo_full_config_batch_env_collision_free_ik():
tensor_args = TensorDeviceType()
world_file = ["collision_test.yml", "collision_cubby.yml"]
robot_file = "franka.yml"
robot_cfg = RobotConfig.from_dict(
load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
)
world_cfg = [
WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), x))) for x in world_file
]
ik_config = IKSolverConfig.load_from_robot_config(
robot_cfg,
world_cfg,
rotation_threshold=0.05,
position_threshold=0.005,
num_seeds=100,
self_collision_check=True,
self_collision_opt=True,
tensor_args=tensor_args,
use_cuda_graph=False,
# use_fixed_samples=True,
)
ik_solver = IKSolver(ik_config)
q_sample = ik_solver.sample_configs(len(world_file))
kin_state = ik_solver.fk(q_sample)
goal = Pose(kin_state.ee_position, kin_state.ee_quaternion)
print("Running demo_full_config_batch_env_collision_free_ik")
for _ in range(1):
st_time = time.time()
result = ik_solver.solve_batch_env(goal)
# print(result.success)
torch.cuda.synchronize()
print(
"Success, Solve Time(s), Total Time(s)",
torch.count_nonzero(result.success).item() / len(q_sample),
result.solve_time,
time.time() - st_time,
)
q_sample = ik_solver.sample_configs(10 * len(world_file))
kin_state = ik_solver.fk(q_sample)
goal = Pose(
kin_state.ee_position.view(len(world_file), 10, 3),
kin_state.ee_quaternion.view(len(world_file), 10, 4),
)
print("Running Batch Env Goalset IK")
for _ in range(1):
st_time = time.time()
result = ik_solver.solve_batch_env_goalset(goal)
torch.cuda.synchronize()
print(
"Success, Solve Time(s), Total Time(s)",
torch.count_nonzero(result.success).item() / len(result.success.view(-1)),
result.solve_time,
time.time() - st_time,
)
if __name__ == "__main__":
print("-"*50)
demo_basic_ik()
print("-"*50)
demo_full_config_collision_free_ik()
print("-"*50)
demo_full_config_batch_env_collision_free_ik()
First thanks for your wonderful work!
I follow the instruction and run python3 -m pytest .
and get Segmentation fault:
platform linux -- Python 3.8.16, pytest-7.4.3, pluggy-1.3.0
rootdir: /share/haoran/HRI/curobo
configfile: pyproject.toml
plugins: dash-2.11.1, typeguard-4.1.5, torchtyping-0.1.4
collecting 23 items
Fatal Python error: Segmentation fault
Current thread 0x00007fa6eb87c4c0 (most recent call first):
File "/share/haoran/HRI/curobo/src/curobo/types/math.py", line 207 in from_list
File "/share/haoran/HRI/curobo/src/curobo/cuda_robot_model/kinematics_parser.py", line 43 in from_dict
File "/share/haoran/HRI/curobo/src/curobo/cuda_robot_model/cuda_robot_generator.py", line 204 in post_init
File "", line 31 in init
File "/share/haoran/HRI/curobo/src/curobo/types/robot.py", line 49 in from_dict
File "/share/haoran/HRI/curobo/tests/ik_config_test.py", line 35 in ik_base_config
File "/share/haoran/HRI/curobo/tests/ik_config_test.py", line 134 in
File "/home/haoran/anaconda3/envs/cvpr2023/lib/python3.8/site-packages/_pytest/assertion/rewrite.py", line 186 in exec_module
File "", line 671 in _load_unlocked
File "", line 975 in _find_and_load_unlocked
File "", line 991 in _find_and_load
File "", line 1014 in _gcd_import
File "/home/haoran/anaconda3/envs/cvpr2023/lib/python3.8/importlib/init.py", line 127 in import_module
File "/home/haoran/anaconda3/envs/cvpr2023/lib/python3.8/site-packages/_pytest/pathlib.py", line 567 in import_path
...
I wonder what might be the cause of this. My CUDA Version: 11.6.
In isaac sim 2023, the blow code will leads to a crash.
from omni.isaac.kit import SimulationApp
from curobo.util.usd_helper import UsdHelper
simulation_app = SimulationApp(
{"headless": False, "width": 1920, "height": 1080}
)
If curobo is not imported, then the above code will run without an error.
The comments in docker/build_dev_docker.sh says:
# Make sure you have pulled all required repos into pkgs folder (see pull_repos.sh script)
But I can not find that script in the repo.
As a result the build_dev_docker.sh script fails to find curobo and usd in the pkgs folder.
After adding a mesh file to the World Configuration, CuRobo effectively loads the unscaled mesh.
Issue Details
I tried adding a simple sphere mesh through a yml file
sphMesh:
pose: [0.0, 0, 0.15, 1, 0, 0, 0]
scale: [0.005, 0.005, 0.005]
file_path: "sphere_mesh.obj"
And loading it as in the script below
with open(model.config["curoboConfig"]["worldYmlPath"]) as file_p:
worldCfg = yaml.load(file_p, Loader=Loader)
world_model = WorldConfig.from_dict(worldCfg)
world_model.save_world_as_mesh("debugMesh.obj")
But when I load the debugMesh.obj file in a 3rd party viewer I verify that the object, as seen by CuRobo, is not scaled.
ps.: It is not a major issue, but it may be useful to solve it eventually
I try to install curobo on my win11 PC, with RTX 3090, but it failed when I executed the command:
pip install -e . --no-build-isolation
I also follow the suggestion printed from the log, run the pip install without edit mode, but it still not work:
pip install . --no-build-isolation
Is it possible to install the curobo on a Windows PC? Thanks in advance!
Here is the log output:
error_log.txt
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Hi guys, thanks for your great work!!!
I want to use CuRobo with RGB-D camera, and use the api in examples:
data_camera = CameraObservation( # rgb_image = data["rgba_nvblox"],
depth_image=data["depth"], intrinsics=data["intrinsics"], pose=camera_pose
)
data_camera = data_camera.to(device=tensor_args.device)
world_model.add_camera_frame(data_camera, "world")
world_model.process_camera_frames("world", False)
torch.cuda.synchronize()
world_model.update_blox_hashes()
But even when RGB-D shoots the desktop, the point cloud should be very thin, but the generated occupancy is always very bloated ( a thick occupancy that approximates a cube is generated instead of a plane).
I'm confused about this, and I haven't found any other API examples or documentation. Is there a more accurate way to model point clouds?
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Issue Details
I need help, thanks!!!!!
$ python examples/motion_gen_api_example.py
Traceback (most recent call last):
File "examples/motion_gen_api_example.py", line 20, in
from curobo.util.usd_helper import UsdHelper
File "/home/panmingjie/gsnet/curobo/src/curobo/util/usd_helper.py", line 19, in
from pxr import Gf, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade
ModuleNotFoundError: No module named 'pxr'
Hi, thank you for the package. The standalone example works well. But the issac sim examples fail to run on 2023 version. Can you support issac sim 2023?
I tried motion_gen_reacher.py omni_python examples/isaac_sim/motion_gen_reacher.py --robot /path/to/kinova_gen3.yml --visualize_spheres
result = motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, plan_config)
succ = result.success.item()
print(result.status, result.success.item())
and always got "Opt Fail" by print(result.status, result.success.item())
Issue Details
Thanks
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Hello, guys. Thanks for your great work!
I want to use RGB-D depth map with curobo, and used tsdf integrator according to issue #92. The quality of SDF mapping has improved a lot compared to 'occupancy', but the update of dynamic objects has become very slow.
As shown in the video below, the tsdf can be quickly updated when objects are detached. But when new objects are added or moved, it takes 5-10 seconds to complete the update. This delay is too long, making the robotic arm unable to be used in dynamic tasks and scenes.
I am not familiar with nvblox and didn't find some adjustable parameters. Is this an inherent flaw of the nvblox algorithm? Do you have any opinions or suggestions? Thanks again.
def update_locked_state(js: JointState):
# update the joint values of locked joints:
pass
I am currently working with a robotic arm that is mounted on a sliding joint. For my use case, I need to lock the sliding joint while executing the motion planning for the robotic arm.
However, I also need to update the value of the sliding joint when I want to move the position of the robotic arm, and then lock it again.
I noticed the update_locked_state
function in the motion_gen.py
file, which seems to be intended for this purpose. However, it appears that this function is not yet implemented.
Could you please provide some guidance on how to properly update the locked state of the sliding joint? Any help would be greatly appreciated.
Thank you for your time and consideration.
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Issue Details
I was playing around with curobo
and when running the command:
docker build -f isaac_sim.dockerfile -t curobo_docker .
I get the output:
[+] Building 0.3s (4/4) FINISHED docker:default
=> [internal] load build definition from isaac_sim.dockerfile 0.0s
=> => transferring dockerfile: 8.50kB 0.0s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 60B 0.0s
=> CANCELED [internal] load metadata for nvcr.io/nvidia/cudagl:11.4.2-devel-ubuntu20.04 0.3s
=> ERROR [internal] load metadata for nvcr.io/nvidia/isaac-sim:2022.2.1 0.3s
------
> [internal] load metadata for nvcr.io/nvidia/isaac-sim:2022.2.1:
------
isaac_sim.dockerfile:17
--------------------
15 |
16 |
17 | >>> FROM nvcr.io/nvidia/isaac-sim:${ISAAC_SIM_VERSION} AS isaac-sim
18 |
19 | FROM nvcr.io/nvidia/cudagl:${CUDA_VERSION}-devel-${BASE_DIST}
--------------------
ERROR: failed to solve: nvcr.io/nvidia/isaac-sim:2022.2.1: pulling from host nvcr.io failed with status code [manifests 2022.2.1]: 401 Unauthorized
Does this mean there is some issue with curobo's server?
Thanks for the help!
Hi, I was running omni_python examples/isaac_sim/motion_gen_reacher.py for motion generation. I am able to see the rendered franka panda arm along with red block which I am able to control but I am not able to see the end effector converging to red block. There is no movement of the arm. Am I missing something to get the motion?
Issue Details
Curobo builds fine, but unit tests fail because it can't find warp.so. I'm trying to build WARP on arm64 Ubuntu (jetson orin) but it fails because llvm is not installed. Can curobo work without warp? If not, what are the steps to successfully compile warp on arm64?
Isaac Sim version: 2022.2.1
In multi_arm_reacher.py:
https://github.com/NVlabs/curobo/assets/56157591/0ecf78ea-437c-438e-8a4b-b316d178fe87
I use mpc instead of motion_gen, it performs well, so i think the reason is not my custom robot:
Hi, is it possible to infer collsion models directly from URDF?
From the IK example, the ik without collision model works well, but for the collision check, it seems not support collision mesh defined in the urdf? Could you support this?
I think there is some bug with batch_motion_gen_reacher.py with n_envs >=5( n_envs = 2 - 4 seems working fine)
To reproduce the bug, go
"batch_motion_gen_reacher.py"
and change few lines:
n_envs = 2 ->
n_envs = 5
world_file = ["collision_test.yml", "collision_thin_walls.yml"] ->
world_file = ["collision_test.yml" for i in range(n_envs)]
cmd_plan = [None, None] ->
cmd_plan = [None for i in range(n_envs)]
then running the file will cause no planned trajectory being success, if we commented out the check if result.success[s]:
we can observe
In contrast, if we just change the value of n_envs from 5 to 4
n_envs = 4
all the issue are gone and can be seens from
the updated batch_motiuon_gen_reacher.py that reproduces error can be downloaded from here
https://drive.google.com/drive/folders/12Ph7JvX9RleSdUkNCYJS6Mu96byihg9l
Thank you for your hard work.
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Issue Details
Hi guys, I'm using MotionGeneration's plan_single
function. When I try to add some spheres, some spheres will cause CUDA Error. I want to know how to avoid this error?
Specifically, I encountered errors in the following two scenarios:
attach_spheres_to_robot()
to add a cube sphere.Traceback (most recent call last):
File "src/planner.py", line 241, in plan
result = self.motion_gen.plan_single(joint_state.unsqueeze(0), ik_goal, self.plan_config)
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/reacher/motion_gen.py", line 1229, in plan_single
link_poses=link_poses,
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/reacher/motion_gen.py", line 1048, in _plan_attempts
link_poses,
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/reacher/motion_gen.py", line 1529, in _plan_from_solve_state
return_all_solutions=plan_config.parallel_finetune,
File "/isaac-sim/kit/python/lib/python3.7/contextlib.py", line 74, in inner
return func(*args, **kwds)
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/reacher/motion_gen.py", line 920, in _solve_trajopt_from_solve_state
newton_iters=newton_iters,
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/reacher/trajopt.py", line 498, in solve_any
newton_iters=newton_iters,
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/reacher/trajopt.py", line 620, in solve_single
newton_iters=newton_iters,
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/reacher/trajopt.py", line 579, in solve_from_solve_state
result = self.solver.solve(goal_buffer, seed_traj)
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/wrap_base.py", line 141, in solve
act_seq = self.optimize(seed, shift_steps=0)
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/wrap/wrap_base.py", line 71, in optimize
act_seq = opt.optimize(act_seq, shift_steps)
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/opt/opt_base.py", line 96, in optimize
out = self._optimize(opt_tensor, shift_steps, n_iters)
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/opt/newton/newton_base.py", line 144, in _optimize
best_q, best_cost, q, grad_q = self._call_opt_iters_graph(q, grad_q)
File "/isaac-sim/kit/python/lib/python3.7/site-packages/curobo/opt/newton/newton_base.py", line 513, in _call_opt_iters_graph
self.cu_opt_graph.replay()
File "/isaac-sim/extscache/omni.pip.torch-1_13_1-0.1.4+104.2.lx64/torch-1-13-1/torch/cuda/graphs.py", line 87, in replay
super(CUDAGraph, self).replay()
RuntimeError: false INTERNAL ASSERT FAILED at "../c10/cuda/CUDAGraphsC10Utils.h":73, please report a bug to PyTorch. Unknown CUDA graph CaptureStatus32558
When I adding sphere in part of configuration custom robot, I found that if some link of urdf have a refer mesh file with scale<0, like this:
<geometry>
<mesh filename="meshes/dhag95/visual/proximal_phalanx_link.STL" scale="0.001 0.001 0.001" />
</geometry>
the spheres added automatedly are huge and at wrong position, and "scale spheres in link" panel cant solve the problem
Docker Isaac Sim
[Did not change the default provided by isaac_sim.dockerfile]
2022.2.1
Issue Details
From /docker/, I ran the command bash build_docker.sh isaac_sim_2022.2.1
. Here is the terminal output
Building Isaac Sim docker
isaac_sim.dockerfile
[+] Building 1.4s (23/35) docker:default
=> [internal] load .dockerignore 0.0s
=> => transferring context: 60B 0.0s
=> [internal] load build definition from isaac_sim.dockerfile 0.0s
=> => transferring dockerfile: 8.50kB 0.0s
=> [internal] load metadata for [nvcr.io/nvidia/cudagl:11.4.2-devel-ubun](http://nvcr.io/nvidia/cudagl:11.4.2-devel-ubun) 0.5s
=> [internal] load metadata for [nvcr.io/nvidia/isaac-sim:2022.2.1](http://nvcr.io/nvidia/isaac-sim:2022.2.1) 0.5s
=> [auth] nvidia/cudagl:pull,push token for [nvcr.io](http://nvcr.io/) 0.0s
=> [auth] nvidia/isaac-sim:pull,push token for [nvcr.io](http://nvcr.io/) 0.0s
=> [stage-1 1/28] FROM [nvcr.io/nvidia/cudagl:11.4.2-devel-ubuntu20.04@](http://nvcr.io/nvidia/cudagl:11.4.2-devel-ubuntu20.04@) 0.0s
=> [isaac-sim 1/1] FROM [nvcr.io/nvidia/isaac-sim:2022.2.1@sha256:48ccef](http://nvcr.io/nvidia/isaac-sim:2022.2.1@sha256:48ccef) 0.0s
=> CACHED [stage-1 2/28] RUN echo 'debconf debconf/frontend select Non 0.0s
=> CACHED [stage-1 3/28] RUN apt-get update && apt-get install -y tz 0.0s
=> CACHED [stage-1 4/28] RUN apt-get update && apt-get install -y --no 0.0s
=> CACHED [stage-1 5/28] RUN wget -q --show-progress --progress=ba 0.0s
=> CACHED [stage-1 6/28] COPY --from=isaac-sim /isaac-sim /isaac-sim 0.0s
=> CACHED [stage-1 7/28] RUN mkdir -p /root/.nvidia-omniverse/config 0.0s
=> CACHED [stage-1 8/28] COPY --from=isaac-sim /root/.nvidia-omniverse 0.0s
=> CACHED [stage-1 9/28] COPY --from=isaac-sim /etc/vulkan/icd.d/nvidi 0.0s
=> CACHED [stage-1 10/28] COPY --from=isaac-sim /etc/vulkan/icd.d/nvidi 0.0s
=> CACHED [stage-1 11/28] WORKDIR /isaac-sim 0.0s
=> CACHED [stage-1 12/28] RUN echo "alias omni_python='/isaac-sim/pytho 0.0s
=> CACHED [stage-1 13/28] RUN /isaac-sim/python.sh -m pip install "robo 0.0s
=> CACHED [stage-1 14/28] RUN mkdir /pkgs && cd /pkgs && git clone http 0.0s
=> CACHED [stage-1 15/28] RUN /isaac-sim/python.sh -m pip install ninja 0.0s
=> ERROR [stage-1 16/28] RUN cd /pkgs/curobo && /isaac-sim/python.sh -m 0.8s
------
> [stage-1 16/28] RUN cd /pkgs/curobo && /isaac-sim/python.sh -m pip install .[dev, isaac_sim] --no-build-isolation:
0.765 ERROR: Invalid requirement: '.[dev,'
0.769 WARNING: You are using pip version 21.2.1+nv1; however, version 23.3.1 is available.
0.769 You should consider upgrading via the '/isaac-sim/kit/python/bin/python3 -m pip install --upgrade pip' command.
0.831 There was an error running python
------
isaac_sim.dockerfile:174
--------------------
172 |
173 |
174 | >>> RUN cd /pkgs/curobo && $omni_python -m pip install .[dev, isaac_sim] --no-build-isolation
175 |
176 | # Optionally install nvblox:
--------------------
ERROR: failed to solve: process "/bin/sh -c cd /pkgs/curobo && $omni_python -m pip install .[dev, isaac_sim] --no-build-isolation" did not complete successfully: exit code: 1
As you can see it's failing on this line of isaac_sim.dockerfile.
Hello, thanks for your great work.
When I try to use the MotionGen, I get some errors:
WARNING: Logging before InitGoogleLogging() is written to STDERR
I1105 20:22:12.898658 31063 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
I1105 20:22:12.898676 31063 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
I1105 20:22:12.898679 31063 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
I1105 20:22:12.898682 31063 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
I1105 20:22:12.898684 31063 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.03, and memory_type: kDevice to LayerCake.
[1] 31063 segmentation fault (core dumped)
The code is as following:
from curobo.types.base import TensorDeviceType
from curobo.geom.sdf.world import CollisionCheckerType
from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig
def main():
robot_config = "franka.yml"
tensor_args = TensorDeviceType()
interpolation_dt = 0.001
world_model = {
"blox": {
"world": {
"pose": [0, 0, 0, 1, 0, 0, 0],
"integrator_type": "occupancy",
"voxel_size": 0.03,
}
},
}
motion_gen_cfg = MotionGenConfig.load_from_robot_config(
robot_config,
world_model,
tensor_args,
collision_checker_type=CollisionCheckerType.BLOX,
interpolation_dt=interpolation_dt,
collision_activation_distance=0.4,
)
motion_gen = MotionGen(motion_gen_cfg)
motion_gen.warmup(warmup_js_trajopt=False)
if __name__ == "__main__":
main()
I try to get a full traceback, the problem lies in L501
Not sure this is a good place to give feedback about your report, but here it is. 🐶
From your report page 16:
Geometric planning methods require time parameterization as a post-processing step to be able to execute on robots.
Kunz and Stilman developed a bounded velocity and acceleration time-parameterization technique [4] that
is extensively used in the robotics community, including MoveIt [55]. However, this time parameterization
technique does not bound the jerk along the trajectory and as such can have very large jerks. We could not
find any accessible software library that can post process geometric paths while bounding jerks, making
geometric path planning not directly deploy-able on jerk sensitive manipulators.
The currently-advised way to limit jerks in MoveIt is to run a ruckig smoothing filter on the parameterized trajectory - at almost no overhead due to the performant implementation of ruckig. Here is the short tutorial you could not find (whether it's "accessible" definitely depends on your standards, I'm the last to claim MoveIt has good usability):
https://ros-planning.github.io/moveit_tutorials/doc/time_parameterization/time_parameterization_tutorial.html?highlight=ruckig#jerk-limited-trajectory-smoothing
I would (have) be(en) interested in the comparison.
$ omni_python torch_layers_example.py
----output-----
Warning: running in conda env, please deactivate before executing this script
If conda is desired please source setup_conda_env.sh in your python 3.7 conda env and run python normally
Traceback (most recent call last):
File "torch_layers_example.py", line 28, in
from curobo.util.usd_helper import UsdHelper
File "/home/xu2/Work/curobo/src/curobo/util/usd_helper.py", line 19, in
from pxr import Gf, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade
ModuleNotFoundError: No module named 'pxr'
There was an error running python
----output-----
I got this error when tried run torch_layers_example.py scripts, I have no idea of how to fix it, need help
Unknown joint type prismatic, error occurred at cuda_robot_generator.py/CudaRobotGenerator._build_kinematics_tensors()
, it could not recognize my prismatic gripper, but prismatic are in the JointType.
class JointType(Enum):
FIXED = -1
X_PRISM = 0
Y_PRISM = 1
Z_PRISM = 2
X_ROT = 3
Y_ROT = 4
Z_ROT = 5
X_PRISM_NEG = 6
Y_PRISM_NEG = 7
Z_PRISM_NEG = 8
X_ROT_NEG = 9
Y_ROT_NEG = 10
Z_ROT_NEG = 11
GET JOINT TYPE: JointType.FIXED
JOINT TYPE VALUE: -1
GET JOINT TYPE: JointType.FIXED
JOINT TYPE VALUE: -1
GET JOINT TYPE: prismatic
Traceback (most recent call last):
File "/home/hermanye20/new_curobo_ws/curobo/examples/isaac_sim/motion_gen_reacher.py", line 376, in <module>
main()
File "/home/hermanye20/new_curobo_ws/curobo/examples/isaac_sim/motion_gen_reacher.py", line 180, in main
motion_gen_config = MotionGenConfig.load_from_robot_config(
File "/home/hermanye20/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/kit/python/lib/python3.10/contextlib.py", line 79, in inner
return func(*args, **kwds)
File "/home/hermanye20/new_curobo_ws/curobo/src/curobo/wrap/reacher/motion_gen.py", line 345, in load_from_robot_config
robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
File "/home/hermanye20/new_curobo_ws/curobo/src/curobo/types/robot.py", line 48, in from_dict
data_dict["kinematics"] = CudaRobotModelConfig.from_config(
File "/home/hermanye20/new_curobo_ws/curobo/src/curobo/cuda_robot_model/cuda_robot_model.py", line 129, in from_config
generator = CudaRobotGenerator(config)
File "/home/hermanye20/new_curobo_ws/curobo/src/curobo/cuda_robot_model/cuda_robot_generator.py", line 222, in __init__
self.initialize_tensors()
File "/home/hermanye20/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/kit/python/lib/python3.10/contextlib.py", line 79, in inner
return func(*args, **kwds)
File "/home/hermanye20/new_curobo_ws/curobo/src/curobo/cuda_robot_model/cuda_robot_generator.py", line 290, in initialize_tensors
self._build_kinematics(self.base_link, self.ee_link, other_links, self.link_names)
File "/home/hermanye20/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/kit/python/lib/python3.10/contextlib.py", line 79, in inner
return func(*args, **kwds)
File "/home/hermanye20/new_curobo_ws/curobo/src/curobo/cuda_robot_model/cuda_robot_generator.py", line 467, in _build_kinematics
self._build_kinematics_tensors(base_link, ee_link, link_names, chain_link_names)
File "/home/hermanye20/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/kit/python/lib/python3.10/contextlib.py", line 79, in inner
return func(*args, **kwds)
File "/home/hermanye20/new_curobo_ws/curobo/src/curobo/cuda_robot_model/cuda_robot_generator.py", line 421, in _build_kinematics_tensors
print(f"JOINT TYPE VALUE: {self._bodies[i].joint_type.value}")
AttributeError: 'str' object has no attribute 'value'
<joint name="gripper_inspire_left_joint_1" type="prismatic">
<origin rpy="3.141592653589793 -1.5707963267948966 0" xyz="-0.034907 -0.009 0.12953"/>
<parent link="gripper_inspire_body_link"/>
<child link="gripper_inspire_left_link_1"/>
<axis xyz="-0.00597 0 -0.99998"/>
<limit effort="0" lower="-0.035" upper="0" velocity="0"/>
</joint>
<link name="gripper_inspire_right_link_1">
<inertial>
<origin rpy="0 0 0" xyz="-0.018807 0.0089979 -0.0046901"/>
<mass value="0.010721"/>
<inertia ixx="5.1508E-07" ixy="1.2231E-10" ixz="2.8973E-07" iyy="1.5709E-06" iyz="7.2401E-11" izz="1.6904E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/gripper/gripper_inspire_right_link_1.stl"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/gripper/gripper_inspire_right_link_1.stl"/>
</geometry>
</collision>
</link>
<joint name="gripper_inspire_right_joint_1" type="prismatic">
<origin rpy="3.141592653589793 -1.5707963267948966 3.141592653589793" xyz="0.034907 -0.009 0.12953"/>
<parent link="gripper_inspire_body_link"/>
<child link="gripper_inspire_right_link_1"/>
<axis xyz="0.00597 0 0.99998"/>
<limit effort="0" lower="0" upper="0.035" velocity="0"/>
<!-- mimic not supported in isaac sim 2023.1.0-hotfix -->
<!-- <mimic joint="${name}_left_joint_1" multiplier="-1" offset="0" /> -->
</joint>
I made curobo into a pip package using:
python setup.py bdist_wheel
and uploaded it to a local pip registry so that I'm now able to:
pip install nividia_curobo
on different repos without needing to compile it each time.
However, when I use the pip installed curobo wheel I need to jit compile the cuda kernels every time. The output looks like:
kinematics_fused_cu not found, JIT compiling...
geom_cu binary not found, jit compiling...
lbfgs_step_cu not found, JIT compiling...
line_search_cu not found, JIT compiling...
tensor_step_cu not found, jit compiling...
Thanks
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Hello Balakumar @balakumar-s ,
Thanks for your contributions to this library. I am getting an error when trying to install cuRobo (Python version without Isaac Sim). Following is the installation details. Only a few example can be executed normally, and the pytest cannot pass normally.
My setup is
conda create -n curobo-env python=3.8.10
conda activate curobo-env
conda install pytorch==1.13.0 torchvision==0.14.0 torchaudio==0.13.0 pytorch-cuda=11.7 -c pytorch -c nvidia
conda install pip
mkdir -p /home/pren/Space/GitHub-Codes/curobo_ws/curobo
cd /home/pren/Space/GitHub-Codes/curobo_ws/curobo
git clone https://github.com/NVlabs/curobo.git
cd curobo
git lfs pull
pip install -e . --no-build-isolation
python examples/collision_check_example.py # Passed
python examples/ik_example.py # Error
pip install pluggy
python3 -m pytest . # 2 skipped, 5 warnings, 2 errors
Issue Details
(base) ➜ ~ conda create -n curobo-env python=3.8.10
Collecting package metadata (current_repodata.json): done
Solving environment: unsuccessful attempt using repodata from current_repodata.json, retrying with next repodata source.
Collecting package metadata (repodata.json): done
Solving environment: done
==> WARNING: A newer version of conda exists. <==
current version: 23.7.4
latest version: 23.11.0
Please update conda by running
$ conda update -n base -c defaults conda
Or to minimize the number of packages updated during conda update use
conda install conda=23.11.0
## Package Plan ##
environment location: /home/pren/anaconda3/envs/curobo-env
added / updated specs:
- python=3.8.10
The following NEW packages will be INSTALLED:
_libgcc_mutex pkgs/main/linux-64::_libgcc_mutex-0.1-main
_openmp_mutex pkgs/main/linux-64::_openmp_mutex-5.1-1_gnu
ca-certificates pkgs/main/linux-64::ca-certificates-2023.12.12-h06a4308_0
ld_impl_linux-64 pkgs/main/linux-64::ld_impl_linux-64-2.38-h1181459_1
libffi pkgs/main/linux-64::libffi-3.3-he6710b0_2
libgcc-ng pkgs/main/linux-64::libgcc-ng-11.2.0-h1234567_1
libgomp pkgs/main/linux-64::libgomp-11.2.0-h1234567_1
libstdcxx-ng pkgs/main/linux-64::libstdcxx-ng-11.2.0-h1234567_1
ncurses pkgs/main/linux-64::ncurses-6.4-h6a678d5_0
openssl pkgs/main/linux-64::openssl-1.1.1w-h7f8727e_0
pip pkgs/main/linux-64::pip-23.3.1-py38h06a4308_0
python pkgs/main/linux-64::python-3.8.10-h12debd9_8
readline pkgs/main/linux-64::readline-8.2-h5eee18b_0
setuptools pkgs/main/linux-64::setuptools-68.2.2-py38h06a4308_0
sqlite pkgs/main/linux-64::sqlite-3.41.2-h5eee18b_0
tk pkgs/main/linux-64::tk-8.6.12-h1ccaba5_0
wheel pkgs/main/linux-64::wheel-0.41.2-py38h06a4308_0
xz pkgs/main/linux-64::xz-5.4.5-h5eee18b_0
zlib pkgs/main/linux-64::zlib-1.2.13-h5eee18b_0
Proceed ([y]/n)? Y
Downloading and Extracting Packages
Preparing transaction: done
Verifying transaction: done
Executing transaction: done
#
# To activate this environment, use
#
# $ conda activate curobo-env
#
# To deactivate an active environment, use
#
# $ conda deactivate
(base) ➜ ~ conda activate curobo-env
(curobo-env) ➜ ~ conda install pytorch==1.13.0 torchvision==0.14.0 torchaudio==0.13.0 pytorch-cuda=11.7 -c pytorch -c nvidia
Collecting package metadata (current_repodata.json): done
Solving environment: unsuccessful initial attempt using frozen solve. Retrying with flexible solve.
Collecting package metadata (repodata.json): done
Solving environment: done
==> WARNING: A newer version of conda exists. <==
current version: 23.7.4
latest version: 23.11.0
Please update conda by running
$ conda update -n base -c defaults conda
Or to minimize the number of packages updated during conda update use
conda install conda=23.11.0
## Package Plan ##
environment location: /home/pren/anaconda3/envs/curobo-env
added / updated specs:
- pytorch-cuda=11.7
- pytorch==1.13.0
- torchaudio==0.13.0
- torchvision==0.14.0
The following NEW packages will be INSTALLED:
blas pkgs/main/linux-64::blas-1.0-mkl
brotli-python pkgs/main/linux-64::brotli-python-1.0.9-py38h6a678d5_7
bzip2 pkgs/main/linux-64::bzip2-1.0.8-h7b6447c_0
certifi pkgs/main/linux-64::certifi-2023.11.17-py38h06a4308_0
cffi pkgs/main/linux-64::cffi-1.15.1-py38h74dc2b5_0
charset-normalizer pkgs/main/noarch::charset-normalizer-2.0.4-pyhd3eb1b0_0
cryptography pkgs/main/linux-64::cryptography-41.0.3-py38h130f0dd_0
cuda-cudart nvidia/linux-64::cuda-cudart-11.7.99-0
cuda-cupti nvidia/linux-64::cuda-cupti-11.7.101-0
cuda-libraries nvidia/linux-64::cuda-libraries-11.7.1-0
cuda-nvrtc nvidia/linux-64::cuda-nvrtc-11.7.99-0
cuda-nvtx nvidia/linux-64::cuda-nvtx-11.7.91-0
cuda-runtime nvidia/linux-64::cuda-runtime-11.7.1-0
ffmpeg pytorch/linux-64::ffmpeg-4.3-hf484d3e_0
freetype pkgs/main/linux-64::freetype-2.12.1-h4a9f257_0
giflib pkgs/main/linux-64::giflib-5.2.1-h5eee18b_3
gmp pkgs/main/linux-64::gmp-6.2.1-h295c915_3
gnutls pkgs/main/linux-64::gnutls-3.6.15-he1e5248_0
idna pkgs/main/linux-64::idna-3.4-py38h06a4308_0
intel-openmp pkgs/main/linux-64::intel-openmp-2021.4.0-h06a4308_3561
jpeg pkgs/main/linux-64::jpeg-9e-h5eee18b_1
lame pkgs/main/linux-64::lame-3.100-h7b6447c_0
lcms2 pkgs/main/linux-64::lcms2-2.12-h3be6417_0
lerc pkgs/main/linux-64::lerc-3.0-h295c915_0
libcublas nvidia/linux-64::libcublas-11.10.3.66-0
libcufft nvidia/linux-64::libcufft-10.7.2.124-h4fbf590_0
libcufile nvidia/linux-64::libcufile-1.8.1.2-0
libcurand nvidia/linux-64::libcurand-10.3.4.101-0
libcusolver nvidia/linux-64::libcusolver-11.4.0.1-0
libcusparse nvidia/linux-64::libcusparse-11.7.4.91-0
libdeflate pkgs/main/linux-64::libdeflate-1.17-h5eee18b_1
libiconv pkgs/main/linux-64::libiconv-1.16-h7f8727e_2
libidn2 pkgs/main/linux-64::libidn2-2.3.4-h5eee18b_0
libnpp nvidia/linux-64::libnpp-11.7.4.75-0
libnvjpeg nvidia/linux-64::libnvjpeg-11.8.0.2-0
libpng pkgs/main/linux-64::libpng-1.6.39-h5eee18b_0
libtasn1 pkgs/main/linux-64::libtasn1-4.19.0-h5eee18b_0
libtiff pkgs/main/linux-64::libtiff-4.5.1-h6a678d5_0
libunistring pkgs/main/linux-64::libunistring-0.9.10-h27cfd23_0
libwebp pkgs/main/linux-64::libwebp-1.3.2-h11a3e52_0
libwebp-base pkgs/main/linux-64::libwebp-base-1.3.2-h5eee18b_0
lz4-c pkgs/main/linux-64::lz4-c-1.9.4-h6a678d5_0
mkl pkgs/main/linux-64::mkl-2021.4.0-h06a4308_640
mkl-service pkgs/main/linux-64::mkl-service-2.4.0-py38h7f8727e_0
mkl_fft pkgs/main/linux-64::mkl_fft-1.3.1-py38hd3c417c_0
mkl_random pkgs/main/linux-64::mkl_random-1.2.2-py38h51133e4_0
nettle pkgs/main/linux-64::nettle-3.7.3-hbbd107a_1
numpy pkgs/main/linux-64::numpy-1.24.3-py38h14f4228_0
numpy-base pkgs/main/linux-64::numpy-base-1.24.3-py38h31eccc5_0
openh264 pkgs/main/linux-64::openh264-2.1.1-h4ff587b_0
openjpeg pkgs/main/linux-64::openjpeg-2.4.0-h3ad879b_0
pillow pkgs/main/linux-64::pillow-10.0.1-py38ha6cbd5a_0
pycparser pkgs/main/noarch::pycparser-2.21-pyhd3eb1b0_0
pyopenssl pkgs/main/linux-64::pyopenssl-23.2.0-py38h06a4308_0
pysocks pkgs/main/linux-64::pysocks-1.7.1-py38h06a4308_0
pytorch pytorch/linux-64::pytorch-1.13.0-py3.8_cuda11.7_cudnn8.5.0_0
pytorch-cuda pytorch/linux-64::pytorch-cuda-11.7-h778d358_5
pytorch-mutex pytorch/noarch::pytorch-mutex-1.0-cuda
requests pkgs/main/linux-64::requests-2.31.0-py38h06a4308_0
six pkgs/main/noarch::six-1.16.0-pyhd3eb1b0_1
torchaudio pytorch/linux-64::torchaudio-0.13.0-py38_cu117
torchvision pytorch/linux-64::torchvision-0.14.0-py38_cu117
typing_extensions pkgs/main/linux-64::typing_extensions-4.7.1-py38h06a4308_0
urllib3 pkgs/main/linux-64::urllib3-1.26.18-py38h06a4308_0
zstd pkgs/main/linux-64::zstd-1.5.5-hc292b87_0
Proceed ([y]/n)? Y
Downloading and Extracting Packages
Preparing transaction: done
Verifying transaction: done
Executing transaction: done
(curobo-env) ➜ ~ conda install pip
Collecting package metadata (current_repodata.json): done
Solving environment: done
==> WARNING: A newer version of conda exists. <==
current version: 23.7.4
latest version: 23.11.0
Please update conda by running
$ conda update -n base -c defaults conda
Or to minimize the number of packages updated during conda update use
conda install conda=23.11.0
# All requested packages already installed.
(curobo-env) ➜ ~ mkdir -p /home/pren/Space/GitHub-Codes/curobo_ws/curobo
(curobo-env) ➜ ~ cd /home/pren/Space/GitHub-Codes/curobo_ws/curobo
(curobo-env) ➜ curobo git clone https://github.com/NVlabs/curobo.git
Cloning into 'curobo'...
remote: Enumerating objects: 854, done.
remote: Counting objects: 100% (74/74), done.
remote: Compressing objects: 100% (37/37), done.
remote: Total 854 (delta 52), reused 43 (delta 36), pack-reused 780
Receiving objects: 100% (854/854), 2.68 MiB | 156.00 KiB/s, done.
Resolving deltas: 100% (316/316), done.
Filtering content: 100% (214/214), 238.55 MiB | 1.11 MiB/s, done.
(curobo-env) ➜ curobo cd curobo
(curobo-env) ➜ curobo git:(main) git lfs pull
(curobo-env) ➜ curobo git:(main) pip install -e . --no-build-isolation
Looking in indexes: https://mirrors.bfsu.edu.cn/pypi/web/simple/
Obtaining file:///home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo
Checking if build backend supports build_editable ... done
Preparing editable metadata (pyproject.toml) ... done
Requirement already satisfied: networkx in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (3.1)
Requirement already satisfied: numpy in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (1.22.0)
Requirement already satisfied: numpy-quaternion in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (2022.4.3)
Requirement already satisfied: pyyaml in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (6.0.1)
Requirement already satisfied: setuptools-scm>=6.2 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (8.0.4)
Requirement already satisfied: torchtyping in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (0.1.4)
Requirement already satisfied: torch>=1.10 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (1.12.1+cu113)
Requirement already satisfied: trimesh in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (3.15.5)
Requirement already satisfied: yourdfpy>=0.0.53 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (0.0.53)
Requirement already satisfied: warp-lang>=0.9.0 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (0.10.1)
Requirement already satisfied: scipy>=1.7.0 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (1.10.1)
Requirement already satisfied: tqdm in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (4.66.1)
Requirement already satisfied: wheel in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (0.41.2)
Requirement already satisfied: importlib-resources in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (6.1.0)
Requirement already satisfied: packaging>=20 in /home/pren/.local/lib/python3.8/site-packages (from setuptools-scm>=6.2->nvidia-curobo==0.6.2.post1.dev3) (23.2)
Requirement already satisfied: setuptools in /home/pren/.local/lib/python3.8/site-packages (from setuptools-scm>=6.2->nvidia-curobo==0.6.2.post1.dev3) (65.7.0)
Requirement already satisfied: typing-extensions in /home/pren/.local/lib/python3.8/site-packages (from setuptools-scm>=6.2->nvidia-curobo==0.6.2.post1.dev3) (4.8.0)
Requirement already satisfied: tomli>=1 in /home/pren/.local/lib/python3.8/site-packages (from setuptools-scm>=6.2->nvidia-curobo==0.6.2.post1.dev3) (2.0.1)
Collecting lxml (from yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3)
Using cached https://mirrors.bfsu.edu.cn/pypi/web/packages/c3/4c/556867cb2193b323728678f239ce24463ae71b8636aba7d6e55a72e3650e/lxml-4.9.4-cp38-cp38-manylinux_2_28_x86_64.whl (8.0 MB)
Requirement already satisfied: six in /home/pren/anaconda3/envs/curobo-env/lib/python3.8/site-packages (from yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.16.0)
Requirement already satisfied: zipp>=3.1.0 in /home/pren/.local/lib/python3.8/site-packages (from importlib-resources->nvidia-curobo==0.6.2.post1.dev3) (3.17.0)
Requirement already satisfied: typeguard>=2.11.1 in /home/pren/.local/lib/python3.8/site-packages (from torchtyping->nvidia-curobo==0.6.2.post1.dev3) (4.1.5)
Requirement already satisfied: pillow in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (10.1.0)
Requirement already satisfied: requests in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2.31.0)
Collecting chardet (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3)
Using cached https://mirrors.bfsu.edu.cn/pypi/web/packages/38/6f/f5fbc992a329ee4e0f288c1fe0e2ad9485ed064cac731ed2fe47dcc38cbf/chardet-5.2.0-py3-none-any.whl (199 kB)
Requirement already satisfied: msgpack in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.0.7)
Requirement already satisfied: xxhash in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (3.4.1)
Requirement already satisfied: shapely in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2.0.2)
Requirement already satisfied: sympy in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.12)
Requirement already satisfied: jsonschema in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (4.19.1)
Requirement already satisfied: mapbox-earcut in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.0.1)
Requirement already satisfied: pyglet in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.5.27)
Requirement already satisfied: rtree in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.1.0)
Requirement already satisfied: pycollada in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (0.7.2)
Requirement already satisfied: colorlog in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (6.7.0)
Requirement already satisfied: svg.path in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (6.3)
Requirement already satisfied: importlib-metadata>=3.6 in /home/pren/.local/lib/python3.8/site-packages (from typeguard>=2.11.1->torchtyping->nvidia-curobo==0.6.2.post1.dev3) (6.8.0)
Requirement already satisfied: attrs>=22.2.0 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (23.1.0)
Requirement already satisfied: jsonschema-specifications>=2023.03.6 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2023.7.1)
Requirement already satisfied: pkgutil-resolve-name>=1.3.10 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.3.10)
Requirement already satisfied: referencing>=0.28.4 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (0.30.2)
Requirement already satisfied: rpds-py>=0.7.1 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (0.10.6)
Requirement already satisfied: python-dateutil>=2.2 in /home/pren/.local/lib/python3.8/site-packages (from pycollada->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2.8.2)
Requirement already satisfied: charset-normalizer<4,>=2 in /home/pren/.local/lib/python3.8/site-packages (from requests->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (3.3.0)
Requirement already satisfied: idna<4,>=2.5 in /home/pren/anaconda3/envs/curobo-env/lib/python3.8/site-packages (from requests->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (3.4)
Requirement already satisfied: urllib3<3,>=1.21.1 in /home/pren/.local/lib/python3.8/site-packages (from requests->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2.0.7)
Requirement already satisfied: certifi>=2017.4.17 in /home/pren/anaconda3/envs/curobo-env/lib/python3.8/site-packages (from requests->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2023.11.17)
Requirement already satisfied: mpmath>=0.19 in /home/pren/.local/lib/python3.8/site-packages (from sympy->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.3.0)
Building wheels for collected packages: nvidia-curobo
Building editable for nvidia-curobo (pyproject.toml) ... done
Created wheel for nvidia-curobo: filename=nvidia_curobo-0.6.2.post1.dev3-0.editable-cp38-cp38-linux_x86_64.whl size=5627 sha256=08dfec994a0ee252ed2896f380cb0afa115d1af0c42b13d253b09afbf99066fe
Stored in directory: /tmp/pip-ephem-wheel-cache-3v4y00ct/wheels/ac/e5/36/52e2c21d4f654260867554ec1f86a8445280b02c7854b2a741
Successfully built nvidia-curobo
Installing collected packages: lxml, chardet, nvidia-curobo
Successfully installed chardet-5.2.0 lxml-4.9.4 nvidia-curobo-0.6.2.post1.dev3
[notice] A new release of pip is available: 23.3.1 -> 23.3.2
[notice] To update, run: pip install --upgrade pip
(curobo-env) ➜ curobo git:(main) python examples/collision_check_example.py
/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/types/math.py:83: UserWarning: FALLBACK path has been taken inside: runCudaFusionGroup. This is an indication that codegen Failed for some reason.
To debug try disable codegen fallback path via setting the env variable `export PYTORCH_NVFUSER_DISABLE=fallback`
(Triggered internally at ../torch/csrc/jit/codegen/cuda/manager.cpp:329.)
self.quaternion = normalize_quaternion(self.quaternion)
tensor([[0.2441],
[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.1431],
[0.0000],
[0.0230]], device='cuda:0')
Collision Distance:
World: tensor([0.0000, 0.0000, 0.0000, 0.0000, 1.8775], device='cuda:0')
Self: tensor([0., 0., 0., 0., 0.], device='cuda:0')
(curobo-env) ➜ curobo git:(main) python examples/ik_example.py
Traceback (most recent call last):
File "examples/ik_example.py", line 232, in <module>
demo_basic_ik()
File "examples/ik_example.py", line 42, in demo_basic_ik
ik_config = IKSolverConfig.load_from_robot_config(
File "/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py", line 75, in inner
return func(*args, **kwds)
File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/wrap/reacher/ik_solver.py", line 203, in load_from_robot_config
parallel_mppi = ParallelMPPI(mppi_cfg)
File "/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py", line 75, in inner
return func(*args, **kwds)
File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/opt/particle/parallel_mppi.py", line 156, in __init__
self.update_samples()
File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/opt/particle/parallel_mppi.py", line 528, in update_samples
self.sample_lib.get_samples(
File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/util/sample_lib.py", line 378, in get_samples
samples = self.sample_fns[k](sample_shape=s_shape)
File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/util/sample_lib.py", line 125, in get_samples
self.samples = self.halton_generator.get_gaussian_samples(sample_shape[0])
File "/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py", line 75, in inner
return func(*args, **kwds)
File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/util/sample_lib.py", line 503, in get_gaussian_samples
gaussian_halton_samples = gaussian_transform(
RuntimeError: The following operation failed in the TorchScript interpreter.
Traceback of TorchScript (most recent call last):
File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/util/sample_lib.py", line 527, in gaussian_transform
# these values.
changed_samples = 1.99 * uniform_samples - 0.99
gaussian_halton_samples = proj_mat * torch.erfinv(changed_samples)
~~~~~~~~~~~~ <--- HERE
i_mat = i_mat * variance
gaussian_halton_samples = torch.matmul(gaussian_halton_samples, i_mat)
RuntimeError:
#define POS_INFINITY __int_as_float(0x7f800000)
#define INFINITY POS_INFINITY
#define NEG_INFINITY __int_as_float(0xff800000)
#define NAN __int_as_float(0x7fffffff)
typedef long long int int64_t;
typedef unsigned int uint32_t;
typedef signed char int8_t;
typedef unsigned char uint8_t; // NOTE: this MUST be "unsigned char"! "char" is equivalent to "signed char"
typedef short int16_t;
static_assert(sizeof(int64_t) == 8, "expected size does not match");
static_assert(sizeof(uint32_t) == 4, "expected size does not match");
static_assert(sizeof(int8_t) == 1, "expected size does not match");
constexpr int num_threads = 128;
constexpr int thread_work_size = 4; // TODO: make template substitution once we decide where those vars live
constexpr int block_work_size = thread_work_size * num_threads;
//TODO use _assert_fail, because assert is disabled in non-debug builds
#define ERROR_UNSUPPORTED_CAST assert(false);
namespace std {
using ::signbit;
using ::isfinite;
using ::isinf;
using ::isnan;
using ::abs;
using ::acos;
using ::acosf;
using ::asin;
using ::asinf;
using ::atan;
using ::atanf;
using ::atan2;
using ::atan2f;
using ::ceil;
using ::ceilf;
using ::cos;
using ::cosf;
using ::cosh;
using ::coshf;
using ::exp;
using ::expf;
using ::fabs;
using ::fabsf;
using ::floor;
using ::floorf;
using ::fmod;
using ::fmodf;
using ::frexp;
using ::frexpf;
using ::ldexp;
using ::ldexpf;
using ::log;
using ::logf;
using ::log10;
using ::log10f;
using ::modf;
using ::modff;
using ::pow;
using ::powf;
using ::sin;
using ::sinf;
using ::sinh;
using ::sinhf;
using ::sqrt;
using ::sqrtf;
using ::tan;
using ::tanf;
using ::tanh;
using ::tanhf;
using ::acosh;
using ::acoshf;
using ::asinh;
using ::asinhf;
using ::atanh;
using ::atanhf;
using ::cbrt;
using ::cbrtf;
using ::copysign;
using ::copysignf;
using ::erf;
using ::erff;
using ::erfc;
using ::erfcf;
using ::exp2;
using ::exp2f;
using ::expm1;
using ::expm1f;
using ::fdim;
using ::fdimf;
using ::fmaf;
using ::fma;
using ::fmax;
using ::fmaxf;
using ::fmin;
using ::fminf;
using ::hypot;
using ::hypotf;
using ::ilogb;
using ::ilogbf;
using ::lgamma;
using ::lgammaf;
using ::llrint;
using ::llrintf;
using ::llround;
using ::llroundf;
using ::log1p;
using ::log1pf;
using ::log2;
using ::log2f;
using ::logb;
using ::logbf;
using ::lrint;
using ::lrintf;
using ::lround;
using ::lroundf;
using ::nan;
using ::nanf;
using ::nearbyint;
using ::nearbyintf;
using ::nextafter;
using ::nextafterf;
using ::remainder;
using ::remainderf;
using ::remquo;
using ::remquof;
using ::rint;
using ::rintf;
using ::round;
using ::roundf;
using ::scalbln;
using ::scalblnf;
using ::scalbn;
using ::scalbnf;
using ::tgamma;
using ::tgammaf;
using ::trunc;
using ::truncf;
} // namespace std
// NB: Order matters for this macro; it is relied upon in
// _promoteTypesLookup and the serialization format.
// Note, some types have ctype as void because we don't support them in codegen
#define AT_FORALL_SCALAR_TYPES_WITH_COMPLEX(_) \
_(uint8_t, Byte) /* 0 */ \
_(int8_t, Char) /* 1 */ \
_(int16_t, Short) /* 2 */ \
_(int, Int) /* 3 */ \
_(int64_t, Long) /* 4 */ \
_(at::Half, Half) /* 5 */ \
_(float, Float) /* 6 */ \
_(double, Double) /* 7 */ \
_(std::complex<at::Half>, ComplexHalf) /* 8 */ \
_(std::complex<float>, ComplexFloat) /* 9 */ \
_(std::complex<double>, ComplexDouble) /* 10 */ \
_(bool, Bool) /* 11 */ \
_(void, QInt8) /* 12 */ \
_(void, QUInt8) /* 13 */ \
_(void, QInt32) /* 14 */ \
_(at::BFloat16, BFloat16) /* 15 */ \
#define AT_FORALL_SCALAR_TYPES_WITH_COMPLEX_EXCEPT_QINT(_) \
_(uint8_t, Byte) \
_(int8_t, Char) \
_(int16_t, Short) \
_(int, Int) \
_(int64_t, Long) \
_(at::Half, Half) \
_(float, Float) \
_(double, Double) \
_(std::complex<at::Half>, ComplexHalf) \
_(std::complex<float>, ComplexFloat) \
_(std::complex<double>, ComplexDouble) \
_(bool, Bool) \
_(at::BFloat16, BFloat16)
enum class ScalarType : int8_t {
#define DEFINE_ENUM(_1, n) n,
AT_FORALL_SCALAR_TYPES_WITH_COMPLEX(DEFINE_ENUM)
#undef DEFINE_ENUM
Undefined,
NumOptions
};
template <typename T, int size>
struct Array {
T data[size];
__device__ T operator[](int i) const {
return data[i];
}
__device__ T& operator[](int i) {
return data[i];
}
Array() = default;
Array(const Array&) = default;
Array& operator=(const Array&) = default;
__device__ Array(T x) {
for (int i = 0; i < size; i++) {
data[i] = x;
}
}
};
template <typename scalar_t>
__device__ __inline__ scalar_t load(char* base_ptr, uint32_t offset) {
return *(reinterpret_cast<scalar_t*>(base_ptr) + offset);
}
template<typename scalar_t>
__device__ __inline__ void store(scalar_t value, char *base_ptr, uint32_t offset) {
*(reinterpret_cast<scalar_t *>(base_ptr) + offset) = value;
}
// aligned vector generates vectorized load/store on CUDA
template<typename scalar_t, int vec_size>
struct alignas(sizeof(scalar_t) * vec_size) aligned_vector {
scalar_t val[vec_size];
};
template <typename T> T erfinv_kernel(T a) { return erfinv(a); }
// TODO: setup grid-stride loop
extern "C" __global__
void erfinv_kernel_vectorized4_kernel(
const int N,
Array<char*, 1+1> data,
float scalar_val) //[1+1],
{
constexpr int vec_size = 4;
int remaining = N - block_work_size * blockIdx.x;
auto thread_idx = threadIdx.x;
int idx = blockIdx.x;
float arg0[4];
float out0[4];
if (remaining < block_work_size) {
#pragma unroll
for (int j = 0; j < thread_work_size; j++){
if (thread_idx >= remaining) {
break;
}
int linear_idx = thread_idx + block_work_size * idx;
arg0[j] = load<float>(data[1], linear_idx);
thread_idx += num_threads;
}
#pragma unroll
for (int j = 0; j < thread_work_size; j++) {
if ((threadIdx.x + j*num_threads) < remaining) {
out0[j] = erfinv_kernel<float>(arg0[j] );
}
}
thread_idx = threadIdx.x;
#pragma unroll
for (int j = 0; j < thread_work_size; j++) {
if (thread_idx >= remaining) {
break;
}
int linear_idx = thread_idx + block_work_size * idx;
store<float>(out0[j], data[0], linear_idx);
thread_idx += num_threads;
}
} else {
static constexpr int loop_size = thread_work_size / vec_size;
//actual loading
using vec_t_input = aligned_vector<float, vec_size>;
vec_t_input * vec0 = reinterpret_cast<vec_t_input *>(data[0+1]) + block_work_size / vec_size * idx;
#pragma unroll
for (int i = 0; i<loop_size; i++){
vec_t_input v;
v = vec0[thread_idx];
#pragma unroll
for (int j=0; j < vec_size; j++){
arg0[vec_size * i + j] = v.val[j];
}
thread_idx += num_threads;
}
#pragma unroll
for (int j = 0; j < thread_work_size; j++) {
out0[j] = erfinv_kernel<float>(arg0[j] );
}
using vec_t_output = aligned_vector<float, vec_size>;
vec_t_output* to_0 = reinterpret_cast<vec_t_output*>(data[0]) + block_work_size / vec_size * idx;
int thread_idx = threadIdx.x;
#pragma unroll
for (int i = 0; i<loop_size; i++){
vec_t_output v;
#pragma unroll
for (int j=0; j<vec_size; j++){
v.val[j] = out0[vec_size * i + j];
}
to_0[thread_idx] = v;
thread_idx += num_threads;
}
}
}
nvrtc: error: invalid value for --gpu-architecture (-arch)
(curobo-env) ➜ curobo git:(main) python3 -m pytest .
Traceback (most recent call last):
File "/home/pren/anaconda3/envs/curobo-env/lib/python3.8/runpy.py", line 185, in _run_module_as_main
mod_name, mod_spec, code = _get_module_details(mod_name, _Error)
File "/home/pren/anaconda3/envs/curobo-env/lib/python3.8/runpy.py", line 144, in _get_module_details
return _get_module_details(pkg_main_name, error)
File "/home/pren/anaconda3/envs/curobo-env/lib/python3.8/runpy.py", line 111, in _get_module_details
__import__(pkg_name)
File "/home/pren/.local/lib/python3.8/site-packages/pytest/__init__.py", line 5, in <module>
from _pytest._code import ExceptionInfo
File "/home/pren/.local/lib/python3.8/site-packages/_pytest/_code/__init__.py", line 2, in <module>
from .code import Code
File "/home/pren/.local/lib/python3.8/site-packages/_pytest/_code/code.py", line 36, in <module>
import pluggy
ModuleNotFoundError: No module named 'pluggy'
(curobo-env) ➜ curobo git:(main) pip install pluggy
Looking in indexes: https://mirrors.bfsu.edu.cn/pypi/web/simple/
Collecting pluggy
Using cached https://mirrors.bfsu.edu.cn/pypi/web/packages/05/b8/42ed91898d4784546c5f06c60506400548db3f7a4b3fb441cba4e5c17952/pluggy-1.3.0-py3-none-any.whl (18 kB)
Installing collected packages: pluggy
Successfully installed pluggy-1.3.0
[notice] A new release of pip is available: 23.3.1 -> 23.3.2
[notice] To update, run: pip install --upgrade pip
(curobo-env) ➜ curobo git:(main) python3 -m pytest .
============================= test session starts ==============================
platform linux -- Python 3.8.10, pytest-7.1.1, pluggy-1.3.0
rootdir: /home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo, configfile: pyproject.toml
plugins: anyio-4.0.0, torchtyping-0.1.4, typeguard-4.1.5, cov-3.0.0, hydra-core-1.3.2
collected 129 items / 2 errors / 2 skipped
==================================== ERRORS ====================================
___________________ ERROR collecting tests/ik_config_test.py ___________________
tests/ik_config_test.py:134: in <module>
(ik_base_config(), True),
tests/ik_config_test.py:39: in ik_base_config
ik_config = IKSolverConfig.load_from_robot_config(
/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py:75: in inner
return func(*args, **kwds)
src/curobo/wrap/reacher/ik_solver.py:203: in load_from_robot_config
parallel_mppi = ParallelMPPI(mppi_cfg)
/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py:75: in inner
return func(*args, **kwds)
src/curobo/opt/particle/parallel_mppi.py:156: in __init__
self.update_samples()
src/curobo/opt/particle/parallel_mppi.py:528: in update_samples
self.sample_lib.get_samples(
src/curobo/util/sample_lib.py:378: in get_samples
samples = self.sample_fns[k](sample_shape=s_shape)
src/curobo/util/sample_lib.py:125: in get_samples
self.samples = self.halton_generator.get_gaussian_samples(sample_shape[0])
/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py:75: in inner
return func(*args, **kwds)
src/curobo/util/sample_lib.py:503: in get_gaussian_samples
gaussian_halton_samples = gaussian_transform(
E RuntimeError: The following operation failed in the TorchScript interpreter.
E Traceback of TorchScript (most recent call last):
E File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/util/sample_lib.py", line 527, in gaussian_transform
E # these values.
E changed_samples = 1.99 * uniform_samples - 0.99
E gaussian_halton_samples = proj_mat * torch.erfinv(changed_samples)
E ~~~~~~~~~~~~ <--- HERE
E i_mat = i_mat * variance
E gaussian_halton_samples = torch.matmul(gaussian_halton_samples, i_mat)
E RuntimeError:
E #define POS_INFINITY __int_as_float(0x7f800000)
E #define INFINITY POS_INFINITY
E #define NEG_INFINITY __int_as_float(0xff800000)
E #define NAN __int_as_float(0x7fffffff)
E
E typedef long long int int64_t;
E typedef unsigned int uint32_t;
E typedef signed char int8_t;
E typedef unsigned char uint8_t; // NOTE: this MUST be "unsigned char"! "char" is equivalent to "signed char"
E typedef short int16_t;
E static_assert(sizeof(int64_t) == 8, "expected size does not match");
E static_assert(sizeof(uint32_t) == 4, "expected size does not match");
E static_assert(sizeof(int8_t) == 1, "expected size does not match");
E constexpr int num_threads = 128;
E constexpr int thread_work_size = 4; // TODO: make template substitution once we decide where those vars live
E constexpr int block_work_size = thread_work_size * num_threads;
E //TODO use _assert_fail, because assert is disabled in non-debug builds
E #define ERROR_UNSUPPORTED_CAST assert(false);
E
E
E
E
E namespace std {
E
E using ::signbit;
E using ::isfinite;
E using ::isinf;
E using ::isnan;
E
E using ::abs;
E
E using ::acos;
E using ::acosf;
E using ::asin;
E using ::asinf;
E using ::atan;
E using ::atanf;
E using ::atan2;
E using ::atan2f;
E using ::ceil;
E using ::ceilf;
E using ::cos;
E using ::cosf;
E using ::cosh;
E using ::coshf;
E
E using ::exp;
E using ::expf;
E
E using ::fabs;
E using ::fabsf;
E using ::floor;
E using ::floorf;
E
E using ::fmod;
E using ::fmodf;
E
E using ::frexp;
E using ::frexpf;
E using ::ldexp;
E using ::ldexpf;
E
E using ::log;
E using ::logf;
E
E using ::log10;
E using ::log10f;
E using ::modf;
E using ::modff;
E
E using ::pow;
E using ::powf;
E
E using ::sin;
E using ::sinf;
E using ::sinh;
E using ::sinhf;
E
E using ::sqrt;
E using ::sqrtf;
E using ::tan;
E using ::tanf;
E
E using ::tanh;
E using ::tanhf;
E
E using ::acosh;
E using ::acoshf;
E using ::asinh;
E using ::asinhf;
E using ::atanh;
E using ::atanhf;
E using ::cbrt;
E using ::cbrtf;
E
E using ::copysign;
E using ::copysignf;
E
E using ::erf;
E using ::erff;
E using ::erfc;
E using ::erfcf;
E using ::exp2;
E using ::exp2f;
E using ::expm1;
E using ::expm1f;
E using ::fdim;
E using ::fdimf;
E using ::fmaf;
E using ::fma;
E using ::fmax;
E using ::fmaxf;
E using ::fmin;
E using ::fminf;
E using ::hypot;
E using ::hypotf;
E using ::ilogb;
E using ::ilogbf;
E using ::lgamma;
E using ::lgammaf;
E using ::llrint;
E using ::llrintf;
E using ::llround;
E using ::llroundf;
E using ::log1p;
E using ::log1pf;
E using ::log2;
E using ::log2f;
E using ::logb;
E using ::logbf;
E using ::lrint;
E using ::lrintf;
E using ::lround;
E using ::lroundf;
E
E using ::nan;
E using ::nanf;
E
E using ::nearbyint;
E using ::nearbyintf;
E using ::nextafter;
E using ::nextafterf;
E using ::remainder;
E using ::remainderf;
E using ::remquo;
E using ::remquof;
E using ::rint;
E using ::rintf;
E using ::round;
E using ::roundf;
E using ::scalbln;
E using ::scalblnf;
E using ::scalbn;
E using ::scalbnf;
E using ::tgamma;
E using ::tgammaf;
E using ::trunc;
E using ::truncf;
E
E } // namespace std
E
E
E
E // NB: Order matters for this macro; it is relied upon in
E // _promoteTypesLookup and the serialization format.
E // Note, some types have ctype as void because we don't support them in codegen
E #define AT_FORALL_SCALAR_TYPES_WITH_COMPLEX(_) \
E _(uint8_t, Byte) /* 0 */ \
E _(int8_t, Char) /* 1 */ \
E _(int16_t, Short) /* 2 */ \
E _(int, Int) /* 3 */ \
E _(int64_t, Long) /* 4 */ \
E _(at::Half, Half) /* 5 */ \
E _(float, Float) /* 6 */ \
E _(double, Double) /* 7 */ \
E _(std::complex<at::Half>, ComplexHalf) /* 8 */ \
E _(std::complex<float>, ComplexFloat) /* 9 */ \
E _(std::complex<double>, ComplexDouble) /* 10 */ \
E _(bool, Bool) /* 11 */ \
E _(void, QInt8) /* 12 */ \
E _(void, QUInt8) /* 13 */ \
E _(void, QInt32) /* 14 */ \
E _(at::BFloat16, BFloat16) /* 15 */ \
E
E #define AT_FORALL_SCALAR_TYPES_WITH_COMPLEX_EXCEPT_QINT(_) \
E _(uint8_t, Byte) \
E _(int8_t, Char) \
E _(int16_t, Short) \
E _(int, Int) \
E _(int64_t, Long) \
E _(at::Half, Half) \
E _(float, Float) \
E _(double, Double) \
E _(std::complex<at::Half>, ComplexHalf) \
E _(std::complex<float>, ComplexFloat) \
E _(std::complex<double>, ComplexDouble) \
E _(bool, Bool) \
E _(at::BFloat16, BFloat16)
E
E
E enum class ScalarType : int8_t {
E #define DEFINE_ENUM(_1, n) n,
E AT_FORALL_SCALAR_TYPES_WITH_COMPLEX(DEFINE_ENUM)
E #undef DEFINE_ENUM
E Undefined,
E NumOptions
E };
E
E template <typename T, int size>
E struct Array {
E T data[size];
E
E __device__ T operator[](int i) const {
E return data[i];
E }
E __device__ T& operator[](int i) {
E return data[i];
E }
E Array() = default;
E Array(const Array&) = default;
E Array& operator=(const Array&) = default;
E __device__ Array(T x) {
E for (int i = 0; i < size; i++) {
E data[i] = x;
E }
E }
E };
E
E
E
E
E
E
E
E
E
E
E template <typename scalar_t>
E __device__ __inline__ scalar_t load(char* base_ptr, uint32_t offset) {
E return *(reinterpret_cast<scalar_t*>(base_ptr) + offset);
E }
E
E template<typename scalar_t>
E __device__ __inline__ void store(scalar_t value, char *base_ptr, uint32_t offset) {
E *(reinterpret_cast<scalar_t *>(base_ptr) + offset) = value;
E }
E
E // aligned vector generates vectorized load/store on CUDA
E template<typename scalar_t, int vec_size>
E struct alignas(sizeof(scalar_t) * vec_size) aligned_vector {
E scalar_t val[vec_size];
E };
E
E template <typename T> T erfinv_kernel(T a) { return erfinv(a); }
E
E // TODO: setup grid-stride loop
E
E extern "C" __global__
E void erfinv_kernel_vectorized4_kernel(
E const int N,
E Array<char*, 1+1> data,
E float scalar_val) //[1+1],
E {
E constexpr int vec_size = 4;
E int remaining = N - block_work_size * blockIdx.x;
E auto thread_idx = threadIdx.x;
E int idx = blockIdx.x;
E float arg0[4];
E
E float out0[4];
E
E
E if (remaining < block_work_size) {
E #pragma unroll
E for (int j = 0; j < thread_work_size; j++){
E if (thread_idx >= remaining) {
E break;
E }
E int linear_idx = thread_idx + block_work_size * idx;
E arg0[j] = load<float>(data[1], linear_idx);
E
E thread_idx += num_threads;
E }
E #pragma unroll
E for (int j = 0; j < thread_work_size; j++) {
E if ((threadIdx.x + j*num_threads) < remaining) {
E out0[j] = erfinv_kernel<float>(arg0[j] );
E }
E }
E thread_idx = threadIdx.x;
E #pragma unroll
E for (int j = 0; j < thread_work_size; j++) {
E if (thread_idx >= remaining) {
E break;
E }
E int linear_idx = thread_idx + block_work_size * idx;
E store<float>(out0[j], data[0], linear_idx);
E
E thread_idx += num_threads;
E }
E } else {
E static constexpr int loop_size = thread_work_size / vec_size;
E //actual loading
E using vec_t_input = aligned_vector<float, vec_size>;
E vec_t_input * vec0 = reinterpret_cast<vec_t_input *>(data[0+1]) + block_work_size / vec_size * idx;
E
E #pragma unroll
E for (int i = 0; i<loop_size; i++){
E vec_t_input v;
E v = vec0[thread_idx];
E #pragma unroll
E for (int j=0; j < vec_size; j++){
E arg0[vec_size * i + j] = v.val[j];
E }
E
E thread_idx += num_threads;
E }
E
E #pragma unroll
E for (int j = 0; j < thread_work_size; j++) {
E out0[j] = erfinv_kernel<float>(arg0[j] );
E }
E
E using vec_t_output = aligned_vector<float, vec_size>;
E vec_t_output* to_0 = reinterpret_cast<vec_t_output*>(data[0]) + block_work_size / vec_size * idx;
E
E int thread_idx = threadIdx.x;
E #pragma unroll
E for (int i = 0; i<loop_size; i++){
E vec_t_output v;
E #pragma unroll
E for (int j=0; j<vec_size; j++){
E v.val[j] = out0[vec_size * i + j];
E }
E to_0[thread_idx] = v;
E
E thread_idx += num_threads;
E }
E }
E }
E nvrtc: error: invalid value for --gpu-architecture (-arch)
________________ ERROR collecting tests/trajopt_config_test.py _________________
tests/trajopt_config_test.py:115: in <module>
(trajopt_base_config(), True),
tests/trajopt_config_test.py:35: in trajopt_base_config
trajopt_config = TrajOptSolverConfig.load_from_robot_config(
/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py:75: in inner
return func(*args, **kwds)
src/curobo/wrap/reacher/trajopt.py:284: in load_from_robot_config
parallel_mppi = ParallelMPPI(mppi_cfg)
/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py:75: in inner
return func(*args, **kwds)
src/curobo/opt/particle/parallel_mppi.py:155: in __init__
self.reset_distribution()
src/curobo/opt/particle/parallel_mppi.py:171: in reset_distribution
self.reset_mean()
src/curobo/opt/particle/parallel_mppi.py:356: in reset_mean
mean = self.mean_lib.get_samples([self.n_envs])
src/curobo/util/sample_lib.py:125: in get_samples
self.samples = self.halton_generator.get_gaussian_samples(sample_shape[0])
/home/pren/anaconda3/envs/curobo-env/lib/python3.8/contextlib.py:75: in inner
return func(*args, **kwds)
src/curobo/util/sample_lib.py:503: in get_gaussian_samples
gaussian_halton_samples = gaussian_transform(
E RuntimeError: The following operation failed in the TorchScript interpreter.
E Traceback of TorchScript (most recent call last):
E File "/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/util/sample_lib.py", line 527, in gaussian_transform
E # these values.
E changed_samples = 1.99 * uniform_samples - 0.99
E gaussian_halton_samples = proj_mat * torch.erfinv(changed_samples)
E ~~~~~~~~~~~~ <--- HERE
E i_mat = i_mat * variance
E gaussian_halton_samples = torch.matmul(gaussian_halton_samples, i_mat)
E RuntimeError:
E #define POS_INFINITY __int_as_float(0x7f800000)
E #define INFINITY POS_INFINITY
E #define NEG_INFINITY __int_as_float(0xff800000)
E #define NAN __int_as_float(0x7fffffff)
E
E typedef long long int int64_t;
E typedef unsigned int uint32_t;
E typedef signed char int8_t;
E typedef unsigned char uint8_t; // NOTE: this MUST be "unsigned char"! "char" is equivalent to "signed char"
E typedef short int16_t;
E static_assert(sizeof(int64_t) == 8, "expected size does not match");
E static_assert(sizeof(uint32_t) == 4, "expected size does not match");
E static_assert(sizeof(int8_t) == 1, "expected size does not match");
E constexpr int num_threads = 128;
E constexpr int thread_work_size = 4; // TODO: make template substitution once we decide where those vars live
E constexpr int block_work_size = thread_work_size * num_threads;
E //TODO use _assert_fail, because assert is disabled in non-debug builds
E #define ERROR_UNSUPPORTED_CAST assert(false);
E
E
E
E
E namespace std {
E
E using ::signbit;
E using ::isfinite;
E using ::isinf;
E using ::isnan;
E
E using ::abs;
E
E using ::acos;
E using ::acosf;
E using ::asin;
E using ::asinf;
E using ::atan;
E using ::atanf;
E using ::atan2;
E using ::atan2f;
E using ::ceil;
E using ::ceilf;
E using ::cos;
E using ::cosf;
E using ::cosh;
E using ::coshf;
E
E using ::exp;
E using ::expf;
E
E using ::fabs;
E using ::fabsf;
E using ::floor;
E using ::floorf;
E
E using ::fmod;
E using ::fmodf;
E
E using ::frexp;
E using ::frexpf;
E using ::ldexp;
E using ::ldexpf;
E
E using ::log;
E using ::logf;
E
E using ::log10;
E using ::log10f;
E using ::modf;
E using ::modff;
E
E using ::pow;
E using ::powf;
E
E using ::sin;
E using ::sinf;
E using ::sinh;
E using ::sinhf;
E
E using ::sqrt;
E using ::sqrtf;
E using ::tan;
E using ::tanf;
E
E using ::tanh;
E using ::tanhf;
E
E using ::acosh;
E using ::acoshf;
E using ::asinh;
E using ::asinhf;
E using ::atanh;
E using ::atanhf;
E using ::cbrt;
E using ::cbrtf;
E
E using ::copysign;
E using ::copysignf;
E
E using ::erf;
E using ::erff;
E using ::erfc;
E using ::erfcf;
E using ::exp2;
E using ::exp2f;
E using ::expm1;
E using ::expm1f;
E using ::fdim;
E using ::fdimf;
E using ::fmaf;
E using ::fma;
E using ::fmax;
E using ::fmaxf;
E using ::fmin;
E using ::fminf;
E using ::hypot;
E using ::hypotf;
E using ::ilogb;
E using ::ilogbf;
E using ::lgamma;
E using ::lgammaf;
E using ::llrint;
E using ::llrintf;
E using ::llround;
E using ::llroundf;
E using ::log1p;
E using ::log1pf;
E using ::log2;
E using ::log2f;
E using ::logb;
E using ::logbf;
E using ::lrint;
E using ::lrintf;
E using ::lround;
E using ::lroundf;
E
E using ::nan;
E using ::nanf;
E
E using ::nearbyint;
E using ::nearbyintf;
E using ::nextafter;
E using ::nextafterf;
E using ::remainder;
E using ::remainderf;
E using ::remquo;
E using ::remquof;
E using ::rint;
E using ::rintf;
E using ::round;
E using ::roundf;
E using ::scalbln;
E using ::scalblnf;
E using ::scalbn;
E using ::scalbnf;
E using ::tgamma;
E using ::tgammaf;
E using ::trunc;
E using ::truncf;
E
E } // namespace std
E
E
E
E // NB: Order matters for this macro; it is relied upon in
E // _promoteTypesLookup and the serialization format.
E // Note, some types have ctype as void because we don't support them in codegen
E #define AT_FORALL_SCALAR_TYPES_WITH_COMPLEX(_) \
E _(uint8_t, Byte) /* 0 */ \
E _(int8_t, Char) /* 1 */ \
E _(int16_t, Short) /* 2 */ \
E _(int, Int) /* 3 */ \
E _(int64_t, Long) /* 4 */ \
E _(at::Half, Half) /* 5 */ \
E _(float, Float) /* 6 */ \
E _(double, Double) /* 7 */ \
E _(std::complex<at::Half>, ComplexHalf) /* 8 */ \
E _(std::complex<float>, ComplexFloat) /* 9 */ \
E _(std::complex<double>, ComplexDouble) /* 10 */ \
E _(bool, Bool) /* 11 */ \
E _(void, QInt8) /* 12 */ \
E _(void, QUInt8) /* 13 */ \
E _(void, QInt32) /* 14 */ \
E _(at::BFloat16, BFloat16) /* 15 */ \
E
E #define AT_FORALL_SCALAR_TYPES_WITH_COMPLEX_EXCEPT_QINT(_) \
E _(uint8_t, Byte) \
E _(int8_t, Char) \
E _(int16_t, Short) \
E _(int, Int) \
E _(int64_t, Long) \
E _(at::Half, Half) \
E _(float, Float) \
E _(double, Double) \
E _(std::complex<at::Half>, ComplexHalf) \
E _(std::complex<float>, ComplexFloat) \
E _(std::complex<double>, ComplexDouble) \
E _(bool, Bool) \
E _(at::BFloat16, BFloat16)
E
E
E enum class ScalarType : int8_t {
E #define DEFINE_ENUM(_1, n) n,
E AT_FORALL_SCALAR_TYPES_WITH_COMPLEX(DEFINE_ENUM)
E #undef DEFINE_ENUM
E Undefined,
E NumOptions
E };
E
E template <typename T, int size>
E struct Array {
E T data[size];
E
E __device__ T operator[](int i) const {
E return data[i];
E }
E __device__ T& operator[](int i) {
E return data[i];
E }
E Array() = default;
E Array(const Array&) = default;
E Array& operator=(const Array&) = default;
E __device__ Array(T x) {
E for (int i = 0; i < size; i++) {
E data[i] = x;
E }
E }
E };
E
E
E
E
E
E
E
E
E
E
E template <typename scalar_t>
E __device__ __inline__ scalar_t load(char* base_ptr, uint32_t offset) {
E return *(reinterpret_cast<scalar_t*>(base_ptr) + offset);
E }
E
E template<typename scalar_t>
E __device__ __inline__ void store(scalar_t value, char *base_ptr, uint32_t offset) {
E *(reinterpret_cast<scalar_t *>(base_ptr) + offset) = value;
E }
E
E // aligned vector generates vectorized load/store on CUDA
E template<typename scalar_t, int vec_size>
E struct alignas(sizeof(scalar_t) * vec_size) aligned_vector {
E scalar_t val[vec_size];
E };
E
E template <typename T> T erfinv_kernel(T a) { return erfinv(a); }
E
E // TODO: setup grid-stride loop
E
E extern "C" __global__
E void erfinv_kernel_vectorized4_kernel(
E const int N,
E Array<char*, 1+1> data,
E float scalar_val) //[1+1],
E {
E constexpr int vec_size = 4;
E int remaining = N - block_work_size * blockIdx.x;
E auto thread_idx = threadIdx.x;
E int idx = blockIdx.x;
E float arg0[4];
E
E float out0[4];
E
E
E if (remaining < block_work_size) {
E #pragma unroll
E for (int j = 0; j < thread_work_size; j++){
E if (thread_idx >= remaining) {
E break;
E }
E int linear_idx = thread_idx + block_work_size * idx;
E arg0[j] = load<float>(data[1], linear_idx);
E
E thread_idx += num_threads;
E }
E #pragma unroll
E for (int j = 0; j < thread_work_size; j++) {
E if ((threadIdx.x + j*num_threads) < remaining) {
E out0[j] = erfinv_kernel<float>(arg0[j] );
E }
E }
E thread_idx = threadIdx.x;
E #pragma unroll
E for (int j = 0; j < thread_work_size; j++) {
E if (thread_idx >= remaining) {
E break;
E }
E int linear_idx = thread_idx + block_work_size * idx;
E store<float>(out0[j], data[0], linear_idx);
E
E thread_idx += num_threads;
E }
E } else {
E static constexpr int loop_size = thread_work_size / vec_size;
E //actual loading
E using vec_t_input = aligned_vector<float, vec_size>;
E vec_t_input * vec0 = reinterpret_cast<vec_t_input *>(data[0+1]) + block_work_size / vec_size * idx;
E
E #pragma unroll
E for (int i = 0; i<loop_size; i++){
E vec_t_input v;
E v = vec0[thread_idx];
E #pragma unroll
E for (int j=0; j < vec_size; j++){
E arg0[vec_size * i + j] = v.val[j];
E }
E
E thread_idx += num_threads;
E }
E
E #pragma unroll
E for (int j = 0; j < thread_work_size; j++) {
E out0[j] = erfinv_kernel<float>(arg0[j] );
E }
E
E using vec_t_output = aligned_vector<float, vec_size>;
E vec_t_output* to_0 = reinterpret_cast<vec_t_output*>(data[0]) + block_work_size / vec_size * idx;
E
E int thread_idx = threadIdx.x;
E #pragma unroll
E for (int i = 0; i<loop_size; i++){
E vec_t_output v;
E #pragma unroll
E for (int j=0; j<vec_size; j++){
E v.val[j] = out0[vec_size * i + j];
E }
E to_0[thread_idx] = v;
E
E thread_idx += num_threads;
E }
E }
E }
E nvrtc: error: invalid value for --gpu-architecture (-arch)
=============================== warnings summary ===============================
<unknown>:3
<unknown>:3: DeprecationWarning: invalid escape sequence \p
tests/ik_config_test.py:149
/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/tests/ik_config_test.py:149: SyntaxWarning: "is not" with a literal. Did you mean "!="?
if expected is not -100:
src/curobo/types/math.py:83
src/curobo/types/math.py:83
/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/types/math.py:83: UserWarning: FALLBACK path has been taken inside: runCudaFusionGroup. This is an indication that codegen Failed for some reason.
To debug try disable codegen fallback path via setting the env variable `export PYTORCH_NVFUSER_DISABLE=fallback`
(Triggered internally at ../torch/csrc/jit/codegen/cuda/manager.cpp:329.)
self.quaternion = normalize_quaternion(self.quaternion)
src/curobo/opt/particle/particle_opt_utils.py:67
/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/opt/particle/particle_opt_utils.py:67: UserWarning: FALLBACK path has been taken inside: runCudaFusionGroup. This is an indication that codegen Failed for some reason.
To debug try disable codegen fallback path via setting the env variable `export PYTORCH_NVFUSER_DISABLE=fallback`
(Triggered internally at ../torch/csrc/jit/codegen/cuda/manager.cpp:329.)
cov, scale_tril, scaled_M = get_stomp_cov_jit(
-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
=========================== short test summary info ============================
ERROR tests/ik_config_test.py - RuntimeError: The following operation failed ...
ERROR tests/trajopt_config_test.py - RuntimeError: The following operation fa...
!!!!!!!!!!!!!!!!!!! Interrupted: 2 errors during collection !!!!!!!!!!!!!!!!!!!!
=================== 2 skipped, 5 warnings, 2 errors in 3.51s ===================
(curobo-env) ➜ curobo git:(main)
Running docker from NGC : pull access denied for curobo_docker, repository does not exist or may require 'docker login': denied: requested access to the resource is denied.
i tried login but no use
Building your own docker image with CuRobo : there is no file "pull_repos.sh"
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Issue Details
I can't build docker through the docker/*.sh, please help me >.<
My command:
bash docker/build_dev_docker.sh
Error Result:
deprecated, use build_docker.sh instead
Argument empty, trying to build based on architecture
Building for X86 Architecture
x86.dockerfile
[+] Building 0.0s (2/2) FINISHED docker:default
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> [internal] load build definition from x86.dockerfile 0.0s
=> => transferring dockerfile: 2B 0.0s
ERROR: failed to solve: failed to read dockerfile: open /data/docker/tmp/buildkit-mount2339691937/x86.dockerfile: no such file or directory
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.