resibots/blackdrops

Code for the Black-DROPS algorithm: "Black-Box Data-efficient Policy Search for Robotics", IROS 2017/ICRA 2018

blackdrops's Issues

How to run BlackDROPS with GP-MI

Have you implemented the BlackDROPS with GP-MI algorithm that was proposed in your ICRA 2018 paper in this repo? I am very interested in that idea and wondering how to replicate your experimental results.

Clean the branches for robot_dart and limbo

We should not depend on some unmerged branch of Limbo and robot_dart. Either we merge them, or we remove the dependency.

How should I include constraints on the state variables

In the cartpole scenario,there are no constraints in the state space,but I want to control the position of the cart between ±0.2m,I manually add the constraints in predict_policy function of system.hpp as shown below ,it works well when the constraints is ±2.5m,but when it comes to ±0.2m,it fails.

Missing release files

Some of the repositories are not finding the correct release. In particular

Err:12 http://ppa.launchpad.net/fcl-debs/ppa/ubuntu bionic Release
404 Not Found [IP: 91.189.95.83 80]
Err:14 http://ppa.launchpad.net/libccd-debs/ppa/ubuntu bionic Release
404 Not Found [IP: 91.189.95.83 80]

I modified the

dartsim-ubuntu-ppa-bionic.list
libccd-debs-ubuntu-ppa-bionic.list
fcl-debs-ubuntu-ppa-bionic.list

to include the devel branch as the bionic branches do not exist.

I think this might be a problem with the way the repos are adding the install scripts.

What optimizer should be used for SPGP model

I am trying to use the SPGP model, which is implemented in limbo/experimental/model, on the cartpole simulation. But it seems that I cannot make the hyperparmater-optimizer work.

This is how I defined the GP template in cartpole.cpp:
using GP_t = limbo::model::MultiGP<Params, limbo::model::SPGP, kernel_t, mean_t, limbo::model::multi_gp::ParallelLFOpt<Params, blackdrops::model::gp::KernelLFOpt<Params, limbo::opt::NLOptGrad<Params, nlopt::LD_LBFGS>>>>;

And I got errors like this:
../exp/blackdrops/src/classic_control/cartpole.cpp:444:26: required from here /home/jingyi/Desktop/blackdrops/deps/limbo/exp/blackdrops/include/blackdrops/model/gp/kernel_lf_opt.hpp:110:48: error: ‘class limbo::model::SPGP<Params, limbo::kernel::SquaredExpARD<Params>, limbo::mean::NullFunction<Params>, limbo::model::gp::NoLFOpt<Params> >’ has no member named ‘matrixL’; did you mean ‘_matrixL’? Eigen::MatrixXd l = gp.matrixL(); ~~~^~~~~~~ _matrixL /home/jingyi/Desktop/blackdrops/deps/limbo/exp/blackdrops/include/blackdrops/model/gp/kernel_lf_opt.hpp:113:68: error: ‘class limbo::model::SPGP<Params, limbo::kernel::SquaredExpARD<Params>, limbo::mean::NullFunction<Params>, limbo::model::gp::NoLFOpt<Params> >’ has no member named ‘alpha’ double a = (gp.obs_mean().transpose() * gp.alpha()) ~~~^~~~~ /home/jingyi/Desktop/blackdrops/deps/limbo/exp/blackdrops/include/blackdrops/model/gp/kernel_lf_opt.hpp:143:28: error: ‘class limbo::model::SPGP<Params, limbo::kernel::SquaredExpARD<Params>, limbo::mean::NullFunction<Params>, limbo::model::gp::NoLFOpt<Params> >’ has no member named ‘matrixL’; did you mean ‘_matrixL’? gp.matrixL().template triangularView<Eigen::Lower>().solveInPlace(w); ~~~^~~~~~~ _matrixL /home/jingyi/Desktop/blackdrops/deps/limbo/exp/blackdrops/include/blackdrops/model/gp/kernel_lf_opt.hpp:144:28: error: ‘class limbo::model::SPGP<Params, limbo::kernel::SquaredExpARD<Params>, limbo::mean::NullFunction<Params>, limbo::model::gp::NoLFOpt<Params> >’ has no member named ‘matrixL’; did you mean ‘_matrixL’? gp.matrixL().template triangularView<Eigen::Lower>().transpose().solveInPlace(w); ~~~^~~~~~~ _matrixL /home/jingyi/Desktop/blackdrops/deps/limbo/exp/blackdrops/include/blackdrops/model/gp/kernel_lf_opt.hpp:147:32: error: ‘class limbo::model::SPGP<Params, limbo::kernel::SquaredExpARD<Params>, limbo::mean::NullFunction<Params>, limbo::model::gp::NoLFOpt<Params> >’ has no member named ‘alpha’ w = gp.alpha() * gp.alpha().transpose() - w; ~~~^~~~~ /home/jingyi/Desktop/blackdrops/deps/limbo/exp/blackdrops/include/blackdrops/model/gp/kernel_lf_opt.hpp:147:45: error: ‘class limbo::model::SPGP<Params, limbo::kernel::SquaredExpARD<Params>, limbo::mean::NullFunction<Params>, limbo::model::gp::NoLFOpt<Params> >’ has no member named ‘alpha’ w = gp.alpha() * gp.alpha().transpose() - w;

Could you give me some advices on this issue?

DART not found, for both basic and advanced installs on OSX

I've attempted both the basic and advanced setup guides (OSX 10.14), but both fail when looking for DART. For example, from my robot_dart base dir (/Users/bb/robot_dart/):

$ ./waf configure
Setting top to                           : /Users/bb/robot_dart 
Setting out to                           : /Users/bb/robot_dart/build 
Checking for 'clang++' (C++ compiler)    : /usr/bin/clang++ 
Checking for 'clang' (C compiler)        : /usr/bin/clang 
Checking boost includes                  : 1_67 
Checking boost libs                      : ok 
Checking for Eigen                       : ok 
Checking for DART includes (including utils/urdf) : ok 
Checking for DART gui includes                    : ok 
DART: Checking for optional Bullet includes       : ok 
Checking for DART libs (including utils/urdf)     : Not found 
['-Wall', '-std=c++11', '-O3', '-march=native', '-g']
'configure' finished successfully (0.113s)

However I'm able to successfully build and install DART, and all tests pass (as directed in their install guide). I've also tried the different DART tag (v6.6.1) and commit (244d89c0) options, but to no avail.

And running $ sudo find / -name "libdart.so" yields no results; this is the first DART file searched for in robot_dart/waf_tools/dart.py.

Install problem about robot_dart wapper

Following the tutorial:
https://github.com/resibots/blackdrops/blob/master/docs/advanced_installation.md
When I install "robot_dart wrapper"
` ./waf configure

Setting top to : /home/dex_hand/WorkSpace/robot_dart

Setting out to : /home/dex_hand/WorkSpace/robot_dart/build

Checking for 'g++' (C++ compiler) : /usr/bin/g++

Checking for 'gcc' (C compiler) : /usr/bin/gcc

Checking boost includes : 1_54

Checking boost libs : lib regex not found in lib64

(complete log in /home/dex_hand/WorkSpace/robot_dart/build/config.log)
`
All the DART install correctly. for boost libs, I install through "sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev"

problems in compile.sh

when I run the compile.sh, problems genearated as following:

In file included from ../exp/blackdrops/src/tutorials/dart_reacher2d.cpp:66:0:
../exp/blackdrops/include/blackdrops/system/dart_system.hpp:69:10: fatal error: robot_dart/graphics/graphics.hpp: No such file or directory
#include <robot_dart/graphics/graphics.hpp>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

...

Waf: Leaving directory `/home/wrf/Documents/Code_robotics/blackdrops-master/deps/limbo/build'
Build failed
-> task in 'dart_reacher2d_graphic' failed with exit status 1 (run with -v to display more information)
-> task in 'dart_reacher2d_simu' failed with exit status 1 (run with -v to display more information)

Issues with installing the code

Hi.
I have tried to install the blackdrops code by following the easy and the advanced installation guide.
How ever, I run into issues in both of them.

When following the easy installation guide, it seems that the script can't find the DART library:

ln: failed to create symbolic link 'blackdrops/..': File exists
WARNING: simplejson not found some function may not work
WARNING: numpy not found
WARNING: pylab/matplotlib not found
WARNING: brewer2mpl (colors) not found
YELLOW: Could not import plot_bo_benchmarks! Will not plot anything!
WARNING: simplejson not found some function may not work
build dir not created (it probably already exists, this is fine)
command-line options for [exp/blackdrops] : -> OK
Setting top to : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/deps/limbo
Setting out to : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/deps/limbo/build
Checking for 'g++' (C++ compiler) : /usr/bin/g++
Checking for 'gcc' (C compiler) : /usr/bin/gcc
Checking for compiler flags "-march=native" : yes
Checking boost includes : 1_71
Checking boost libs : ok
Checking for Eigen : /usr/include/eigen3
Checking Intel TBB includes (optional) : /usr/include
Checking Intel TBB libs (optional) : /usr/lib/x86_64-linux-gnu
Checking for compiler option to support OpenMP : -fopenmp
Checking Intel MKL includes (optional) : Not found
Checking for NLOpt C++ includes (optional) : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/install/include
Checking for NLOpt C++ libs (optional) : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/install/lib
Checking for libcmaes includes (optional) : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/install/include
Checking for libcmaes libs (optional) : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/install/lib
CXXFLAGS: ['-Wall', '-std=c++11', '-O3', '-g', '-march=native']
configuring for exp: blackdrops
Checking for SDL (2.x - sdl2-config) : OK
Checking for simple_nn includes : /usr/local/include
Checking for DART includes (including io/urdf) : Not found
(complete log in /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/deps/limbo/build/config.log)

When following the advanced installation, I managed to install DART properly (by following the installation guide on their website). But I ran into problems regarding magnum and corrade. The output from waf is as follows:

YELLOW: Could not import plot_bo_benchmarks! Will not plot anything!
build dir not created (it probably already exists, this is fine)
command-line options for [exp/blackdrops] : -> OK
Setting top to : /home/jeppe/phd_jeppe_langaa/blackdrops/limbo
Setting out to : /home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build
Checking for 'g++' (C++ compiler) : /usr/bin/g++
Checking for 'gcc' (C compiler) : /usr/bin/gcc
Checking boost includes : 1_71
Checking boost libs : ok
Checking for Eigen : /usr/include/eigen3
Checking Intel TBB includes (optional) : /usr/include
Checking Intel TBB libs (optional) : /usr/lib/x86_64-linux-gnu
Checking Intel MKL includes (optional) : Not found
Checking for NLOpt C++ includes (optional) : /usr/local/include
Checking for NLOpt C++ libs (optional) : /usr/lib/x86_64-linux-gnu
Checking for libcmaes includes (optional) : Not found in ['/usr/local/include', '/usr/include']
Checking for compiler flags "-march=native" : yes
CXXFLAGS: ['-Wall', '-std=c++11', '-O3', '-g', '-march=native']
configuring for exp: blackdrops
Checking for SDL (2.x - sdl2-config) : OK
Checking for simple_nn includes : /usr/local/include
Checking for DART includes (including io/urdf) : 6.12.2 in /usr/include
Checking for DART libs (including io/urdf) : ['dart', 'dart-utils', 'dart-utils-urdf']
DART: Checking for Assimp : /usr/include
DART: Checking for Bullet Collision libs : libs: ['LinearMath', 'BulletCollision', 'dart-collision-bullet'], bullet: /usr/include/bullet
DART: Checking for Ode Collision libs : libs: ['ode', 'dart-collision-ode'], ode: /usr/include
DART: Checking for Octomap libs : libs: ['octomath'], octomap: /usr/include
Checking for robot_dart includes : ['/usr/local/include']
Checking for robot_dart library : libRobotDARTSimu.a
Checking for robot_dart GUI includes : ['/usr/local/include']
Checking for robot_dart GUI library : libRobotDARTMagnum.a
Checking for Corrade includes : /usr/include
Getting Corrade configuration : ['BUILD_DEPRECATED', 'TARGET_UNIX']
Checking for Corrade components : ['CorradeUtility', 'CorradePluginManager', '/usr/bin/corrade-rc']
Checking for Magnum includes : /usr/include
Checking for Magnum lib : ['Magnum']
Getting Magnum configuration : ['BUILD_DEPRECATED', 'BUILD_MULTITHREADED', 'TARGET_GL']
Magnum: Checking for OpenGL includes : /usr/include
Magnum: Checking for OpenGL lib : ['OpenGL']
Magnum: Checking for MagnumGL lib : ['MagnumGL']
Checking for Magnum components : ['WindowlessGlxApplication', 'MeshTools', 'SceneGraph', 'TgaImporter', 'Text', 'Shaders', 'Primitives', 'Trade', 'TextureTools', 'MagnumFont', 'GlfwApplication']
Checking for AnyImageImporter Magnum Plugin : /usr/include
Checking for StbTrueTypeFont Magnum Plugin : Not found
Checking for AssimpImporter Magnum Plugin : Not found
Checking for Eigen Magnum Integration : Not found
Checking for Dart Magnum Integration : Not found
Checking for library ['pthread'] : yes
CXXFLAGS (Blackdrops): ['-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new']

WHAT TO DO NOW?

[users] To compile Limbo: ./waf build
[users] To compile and run unit tests: ./waf --tests
[users] Read the documentation (inc. tutorials) on http://www.resibots.eu/limbo
[developers] To compile the HTML documentation (this requires sphinx and the resibots theme): ./waf docs
[developers] To compile the BO benchmarks: ./waf build_bo_benchmarks
[developers] To run the BO benchmarks: ./waf run_bo_benchmarks
[developers] To compile the regression benchmarks (requires a json file with the setup): ./waf --regression_benchmarks file.json
[developers] To run the regression benchmarks: ./waf run_regression_benchmarks --regression_benchmarks file.json
[developers] To compile the extensive tests: ./waf build_extensive_tests
'configure' finished successfully (0.312s)

And the build fails with these errors:

File "./waf", line 165, in
Scripting.waf_entry_point(cwd, VERSION, wafdir)
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Scripting.py", line 119, in waf_entry_point
run_commands()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Scripting.py", line 179, in run_commands
ctx=run_command(cmd_name)
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Scripting.py", line 170, in run_command
ctx.execute()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Scripting.py", line 367, in execute
return execute_method(self)
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Build.py", line 93, in execute
self.execute_build()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Build.py", line 100, in execute_build
self.compile()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Tools/errcheck.py", line 140, in check_compile
ret=self.orig_compile()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Build.py", line 176, in compile
raise Errors.BuildError(self.producer.error)
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Errors.py", line 26, in init
WafError.init(self,self.format_error())

Build failed
-> task in 'planar_arm_finished_graphic' failed with exit status 1:
{task 140367620876112: cxx planar_arm_finished.cpp -> planar_arm_finished.cpp.4.o}
['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Iexp/blackdrops/src/tutorials', '-I../exp/blackdrops/src/tutorials', '-Isrc', '-I../src', '-Iexp/blackdrops/src', '-I../exp/blackdrops/src', '-Iexp/blackdrops/include', '-I../exp/blackdrops/include', '-I/usr/include', '-I/usr/include/eigen3', '-I../src', '-I/usr/local/include', '-I/usr/include/SDL2', '-DHAVE_SDL=1', '-DGRAPHIC', '-DUSE_TBB', '-DUSE_NLOPT', '-D_REENTRANT', '-DUSE_SDL', '../exp/blackdrops/src/tutorials/planar_arm_finished.cpp', '-c', '-o/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build/exp/blackdrops/src/tutorials/planar_arm_finished.cpp.4.o']
-> task in 'planar_arm_finished_simu' failed with exit status 1:
{task 140367620875856: cxx planar_arm_finished.cpp -> planar_arm_finished.cpp.3.o}
['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-D NODSP', '-Iexp/blackdrops/src/tutorials', '-I../exp/blackdrops/src/tutorials', '-Isrc', '-I../src', '-Iexp/blackdrops/src', '-I../exp/blackdrops/src', '-Iexp/blackdrops/include', '-I../exp/blackdrops/include', '-I/usr/include', '-I/usr/include/eigen3', '-I../src', '-I/usr/local/include', '-I/usr/include/SDL2', '-DHAVE_SDL=1', '-DSIMU', '-DUSE_TBB', '-DUSE_NLOPT', '-D_REENTRANT', '-DUSE_SDL', '../exp/blackdrops/src/tutorials/planar_arm_finished.cpp', '-c', '-o/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build/exp/blackdrops/src/tutorials/planar_arm_finished.cpp.3.o']
-> task in 'planar_arm_simu' failed with exit status 1:
{task 140367620875344: cxx planar_arm.cpp -> planar_arm.cpp.1.o}
['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-D NODSP', '-Iexp/blackdrops/src/tutorials', '-I../exp/blackdrops/src/tutorials', '-Isrc', '-I../src', '-Iexp/blackdrops/src', '-I../exp/blackdrops/src', '-Iexp/blackdrops/include', '-I../exp/blackdrops/include', '-I/usr/include', '-I/usr/include/eigen3', '-I../src', '-I/usr/local/include', '-I/usr/include/SDL2', '-DHAVE_SDL=1', '-DSIMU', '-DUSE_TBB', '-DUSE_NLOPT', '-D_REENTRANT', '-DUSE_SDL', '../exp/blackdrops/src/tutorials/planar_arm.cpp', '-c', '-o/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build/exp/blackdrops/src/tutorials/planar_arm.cpp.1.o']
-> task in 'planar_arm_graphic' failed with exit status 1:
{task 140367620875600: cxx planar_arm.cpp -> planar_arm.cpp.2.o}
['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Iexp/blackdrops/src/tutorials', '-I../exp/blackdrops/src/tutorials', '-Isrc', '-I../src', '-Iexp/blackdrops/src', '-I../exp/blackdrops/src', '-Iexp/blackdrops/include', '-I../exp/blackdrops/include', '-I/usr/include', '-I/usr/include/eigen3', '-I../src', '-I/usr/local/include', '-I/usr/include/SDL2', '-DHAVE_SDL=1', '-DGRAPHIC', '-DUSE_TBB', '-DUSE_NLOPT', '-D_REENTRANT', '-DUSE_SDL', '../exp/blackdrops/src/tutorials/planar_arm.cpp', '-c', '-o/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build/exp/blackdrops/src/tutorials/planar_arm.cpp.2.o']

I am not sure what to do from here.

Also, is it possible to switch from python 2.7 to 3.8? I've tried to switch, but it seems to be causing further problems.

Best regards Jeppe.

Problems in ./scprits/configure.sh

I installed the required dependencies by using "./scripts/install_deps_req.sh".
Then, in compilation step, using "./scripts/configure.sh", the problem generated as following:
WARNING: simplejson not found some function may not work
WARNING: numpy not found
WARNING: pylab/matplotlib not found
WARNING: brewer2mpl (colors) not found
YELLOW: Could not import plot_bo_benchmarks! Will not plot anything!
WARNING: simplejson not found some function may not work
Traceback (most recent call last):
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Node.py", line 312, in ant_iter
raise StopIteration
StopIteration

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Scripting.py", line 110, in waf_entry_point
run_commands()
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Scripting.py", line 167, in run_commands
parse_options()
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Scripting.py", line 140, in parse_options
Context.create_context('options').execute()
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Options.py", line 146, in execute
super(OptionsContext,self).execute()
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Context.py", line 93, in execute
self.recurse([os.path.dirname(g_module.root_path)])
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Context.py", line 134, in recurse
user_function(self)
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/wscript", line 67, in options
opt.load('compiler_cxx boost waf_unit_test')
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Context.py", line 90, in load
fun(self)
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Tools/compiler_cxx.py", line 36, in options
opt.load_special_tools('cxx_*.py')
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Context.py", line 321, in load_special_tools
lst=self.root.find_node(waf_dir).find_node('waflib/extras').ant_glob(var)
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Node.py", line 361, in ant_glob
ret=[x for x in self.ant_iter(accept=accept,pats=[to_pat(incl),to_pat(excl)],maxdepth=kw.get('maxdepth',25),dir=dir,src=src,remove=kw.get('remove',True))]
File "/home/wrf/Documents/Temp-robotics_control/blackdrops-master/deps/limbo/.waf3-1.8.18-4bb74d2af0d005ad4420ee36f19f050a/waflib/Node.py", line 361, in
ret=[x for x in self.ant_iter(accept=accept,pats=[to_pat(incl),to_pat(excl)],maxdepth=kw.get('maxdepth',25),dir=dir,src=src,remove=kw.get('remove',True))]
RuntimeError: generator raised StopIteration

Tools to analize experiment results

Running an experiment creates many *.dat and *.bin files, but there doesn't seem to be any direction or scripts on how to use them. How can one plot the results? I see there were plot scripts pushed previously, but seem hardcoded and don't work out-of-the-box. A quick script to create results plots would be great!

building pendulum_test fails

I am building on Ubuntu 18.04 under Parallels on OS X

In particular
Linux ubuntu 4.15.0-20-generic #21-Ubuntu SMP Tue Apr 24 06:16:15 UTC 2018 x86_64 x86_64 x86_64 GNU/Linux

When running
./scripts/install_deps_all.sh

I get the following error

[17/20] Linking build/pendulum_test
/usr/lib/x86_64-linux-gnu/libosgViewer.so: undefined reference to glXCreateGLXPbufferSGIX' /usr/lib/x86_64-linux-gnu/libosgViewer.so: undefined reference to glXQueryGLXPbufferSGIX'
/usr/lib/x86_64-linux-gnu/libosgViewer.so: undefined reference to `glXDestroyGLXPbufferSGIX'
collect2: error: ld returned 1 exit status

Code for driving a robotic arm

Do you have any code you could share for driving the physical arm implementation from your paper. I understand that this would not be general purpose, but it would be helpful to see how you did it.