Hi,
I am trying to transition to pychrono for RL setup and training. I am
following the instructions on
https://github.com/projectchrono/gym-chrono?tab=readme-ov-file to set up
and run gym-chrono.
System:
Ubuntu 20.04 x86_64, GPU: 3 x Nvidia A6000
I get the following error (attached "make_output.txt") while I try to build
the chrono (feature/robot_model) branch. I pulled this branch as in
instructions and edited lines 42-50 to ignore the git info:
https://github.com/zzhou292/chrono/blob/2d86e61777100948b704d95b12d7cb57ee6baaa9/src/chrono_parsers/ChParserURDF.cpp#L42
I installed numpy==1.24.0 with conda and added the include directory during
cmake configure
(/home/user/anaconda3/lib/python3.11/site-packages/numpy/core/include/numpy).
Not sure what's wrong here. Does anyone have any thoughts?
Thanks
Prakhar Gupta
Grad Student, Clemson U.
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cra@cra-Lambda-Vector:~/chrono-ws/chrono_build$ make
-- We are on a Linux system
-- The host processor is x86_64
-- Building for a Linux system
-- The target processor is x86_64
-- Using a single configuration generator (Unix Makefiles)
-- Data directory copied to: /home/cra/chrono-ws/chrono_build/data/
-- Binaries will be created in /home/cra/chrono-ws/chrono_build/bin/
-- GCC version: 9.4.0
-- C++14 compiler support: TRUE
-- C++17 compiler support: TRUE
-- Searching for Threads...
-- Thread library: -pthread
-- Using Win32 threads?
-- Using pthreads? 1
-- Searching for OpenMP...
-- OpenMP version: 4.0
-- OpenMP CXX flags: -fopenmp
-- OpenMP C flags: -fopenmp
-- OpenMP includes:
-- OpenMP library:
-- OpenMP libraries:
/usr/lib/gcc/x86_64-linux-gnu/9/libgomp.so;/usr/lib/x86_64-linux-gnu/libpthread.so
-- Testing SIMD capabilities...
-- Using automatic native flag for SIMD optimization
-- Searching for Eigen3...
-- Eigen3 version: 3.3.7
-- Eigen3 include directory: /usr/include/eigen3
-- Searching for MPI...
-- MPI compiler: /usr/bin/mpicxx
-- MPI compile flags: -pthread
-- MPI include path:
/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi;/usr/lib/x86_64-linux-gnu/openmpi/include
-- MPI link flags: -pthread
-- MPI libraries:
/usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi_cxx.so;/usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi.so
--
-- MPIEXEC: /usr/bin/mpiexec
-- MPIEXEC_NUMPROC_FLAG: -n
-- MPIEXEC_PREFLAGS:
-- MPIEXEC_POSTFLAGS:
-- Searching for CUDA...
CMake Warning (dev) at src/CMakeLists.txt:348 (find_package):
Policy CMP0146 is not set: The FindCUDA module is removed. Run "cmake
--help-policy CMP0146" for policy details. Use the cmake_policy command to
set the policy and suppress this warning.
This warning is for project developers. Use -Wno-dev to suppress it.
-- CUDA version: 12.3
-- CUDA toolkit root dir: /usr/local/cuda
-- CUDA binary dir: /usr/local/cuda/bin
-- Automatic GPU detection failed. Building for all known architectures.
-- Compiling for CUDA architecture: 5.2 5.3 6.0 6.1 6.2 7.0 7.2 7.5 8.0 8.6 8.9
-- CUDA compile flags: -std c++17 -Xcompiler
-std=c++17;--compiler-options;-fPIC;-gencode;arch=compute_52,code=sm_52;-gencode;arch=compute_53,code=sm_53;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_61,code=sm_61;-gencode;arch=compute_62,code=sm_62;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_72,code=sm_72;-gencode;arch=compute_75,code=sm_75;-gencode;arch=compute_80,code=sm_80;-gencode;arch=compute_86,code=sm_86;-gencode;arch=compute_89,code=sm_89
-- Searching for Thrust...
-- Thrust version: 2.2.0
-- Thrust include dir: /usr/local/cuda/include
-- Searching for CUB...
-- Warning level set to -Wall
-- Compiler and linker flags:
-- CMAKE_CXX_FLAGS: -pthread -fopenmp -pthread -fopenmp
-march=native
-- CMAKE_CXX_FLAGS_DEBUG: -pthread -fopenmp -march=native -D_DEBUG -DDEBUG
-- CMAKE_CXX_FLAGS_RELEASE: -pthread -fopenmp -march=native -DNDEBUG
-- Linke flags LIB:
-- Linke flags EXE:
-- CUDA flags: -std c++17 -Xcompiler
-std=c++17;--compiler-options;-fPIC;-gencode;arch=compute_52,code=sm_52;-gencode;arch=compute_53,code=sm_53;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_61,code=sm_61;-gencode;arch=compute_62,code=sm_62;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_72,code=sm_72;-gencode;arch=compute_75,code=sm_75;-gencode;arch=compute_80,code=sm_80;-gencode;arch=compute_86,code=sm_86;-gencode;arch=compute_89,code=sm_89
--
==== Chrono Engine core module ====
-- Chrono includes:
/home/cra/chrono-ws/chrono/src/chrono;/home/cra/chrono-ws/chrono/src/chrono/collision/bullet;/home/cra/chrono-ws/chrono/src/chrono/collision/gimpact;/home/cra/chrono-ws/chrono/src/chrono/../chrono_thirdparty/HACD;/home/cra/chrono-ws/chrono/src/chrono/../chrono_thirdparty/HACDv2
-- Adding internal multicore collision detection library.
--
==== Chrono Parsers module ====
-- Found URDFDOM and dependencies.
-- URDFDOM include dirs:
/home/cra/chrono-ws/urdf/lib/urdfdom/cmake/../../../include/urdfdom;;/home/cra/chrono-ws/urdf/lib/urdfdom_headers/cmake/../../../include/urdfdom_headers;/home/cra/chrono-ws/urdf/include
-- ROS 2 distro is ""
CMake Warning at cmake/FindROS2.cmake:6 (message):
To build a module that depends on ROS 2, a ROS distribution needs to be
sourced, but none detected.
Call Stack (most recent call first):
src/chrono_parsers/CMakeLists.txt:47 (find_package)
CMake Warning (dev) at src/chrono_parsers/CMakeLists.txt:61 (find_package):
Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
are removed. Run "cmake --help-policy CMP0148" for policy details. Use
the cmake_policy command to set the policy and suppress this warning.
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at src/chrono_parsers/CMakeLists.txt:62 (find_package):
Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
are removed. Run "cmake --help-policy CMP0148" for policy details. Use
the cmake_policy command to set the policy and suppress this warning.
This warning is for project developers. Use -Wno-dev to suppress it.
-- Found Python and dependencies.
-- Python directory: /usr/bin
-- Python include dir: /usr/include/python3.8
-- Python libraries: /usr/lib/x86_64-linux-gnu/libpython3.8.so.1
--
==== Chrono Irrlicht module ====
-- Include directory: /usr/include/irrlicht
-- Library:
/usr/lib/x86_64-linux-gnu/libIrrlicht.so;-lXxf86vm;-lglut;-lX11;-lGL
--
==== Chrono Vehicle module ====
-- Enable Irrlicht support
-- Add ChronoEngine_vehicle library
-- Add ChronoEngine_vehicle_cosim library
--
==== Chrono models ====
-- Robot models...
-- Vehicle models...
--
==== Chrono Sensor module ====
-- OpenGL found: TRUE
-- GLEW found: TRUE
-- GLFW3 found: 1
-- GL libraries found.
-- OptiX include directory: /home/cra/chrono-ws/include
--
==== SynChrono module ====
--
==== Chrono Python module ====
CMake Deprecation Warning at src/chrono_swig/chrono_python/CMakeLists.txt:51
(cmake_policy):
The OLD behavior for policy CMP0078 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
CMake Deprecation Warning at src/chrono_swig/chrono_python/CMakeLists.txt:56
(cmake_policy):
The OLD behavior for policy CMP0086 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
-- ...find Python
CMake Warning (dev) at src/chrono_swig/chrono_python/CMakeLists.txt:72
(find_package):
Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
are removed. Run "cmake --help-policy CMP0148" for policy details. Use
the cmake_policy command to set the policy and suppress this warning.
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at src/chrono_swig/chrono_python/CMakeLists.txt:73
(find_package):
Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
are removed. Run "cmake --help-policy CMP0148" for policy details. Use
the cmake_policy command to set the policy and suppress this warning.
This warning is for project developers. Use -Wno-dev to suppress it.
-- ...find SWIG
-- ...add python CORE module
-- ...add python FEA module
-- ...add python IRRLICHT module
-- ...add python vehicle module: pychrono.vehicle
-- ...add python SENSOR module
-- Numpy include directory:
/home/cra/anaconda3/lib/python3.11/site-packages/numpy/core/include/numpy
-- ...add python robot module: pychrono.robot
-- ...add python parsers module: pychrono.parsers
--
-- To have access to the Chrono::Python wrapper modules, after building and
(optionally) installing,
-- append one of the following to the PYTHONPATH environment variable:
-- For the modules in the BUILD tree: $<TARGET_FILE_DIR:_core>
-- For the modules in the INSTALL tree: /usr/local/share/chrono/python
--
--
==== Demo programs ====
-- Demo programs for CORE module...
-- ...add demo_CH_coords
-- ...add demo_CH_linalg
-- ...add demo_CH_matrix_ref
-- ...add demo_CH_math
-- ...add demo_CH_stream
-- ...add demo_CH_archive
-- ...add demo_CH_buildsystem
-- ...add demo_CH_powertrain
-- ...add demo_CH_functions
-- ...add demo_CH_solver
-- ...add demo_CH_EulerAngles
-- ...add demo_CH_filesystem
-- Demo programs for FEA module...
-- ...add demo_FEA_basic
-- ...add demo_FEA_dynamics
-- ...add demo_FEA_loads_statics
-- ...add demo_FEA_thermal
-- ...add demo_FEA_electrostatics
-- ...add demo_FEA_contacts_SMC
-- ...add demo_FEA_cables
-- ...add demo_FEA_shellsANCF_3423
-- ...add demo_FEA_shellsANCF_3833
-- ...add demo_FEA_hexaANCF_3813
-- ...add demo_FEA_cosimulate_load
-- ...add demo_FEA_loads_dynamics
-- ...add demo_FEA_truss
-- Demo programs for ROBOT models...
-- ...add demo_ROBOT_Curiosity_Rigid
-- ...add demo_ROBOT_Curiosity_SCM
-- ...add demo_ROBOT_Turtlebot_Rigid
-- ...add demo_ROBOT_Viper_Rigid
-- ...add demo_ROBOT_Viper_SCM
-- ...add demo_ROBOT_Cobra_Rigid
-- ...add demo_ROBOT_Rassor_Rigid
-- ...add demo_ROBOT_Rassor_SCM
-- ...add demo_ROBOT_LittleHexy
-- ...add demo_ROBOT_UnitreeGo1_Rigid
-- ...add demo_ROBOT_Curiosity_SCM_Sensor
-- ...add demo_ROBOT_Viper_SCM_Sensor
-- ...add demo_ROBOT_RoboSimian_Rigid
-- ...add demo_ROBOT_RoboSimian_SCM
-- Warning: the multicore RoboSimian projects require Chrono::Multicore and
Chrono::OpenGL!
-- Demo programs for MBS module...
-- ...add demo_MBS_aux_ref
-- ...add demo_MBS_ballSMC
-- ...add demo_MBS_bricks
-- ...add demo_MBS_callbackNSC
-- ...add demo_MBS_callbackSMC
-- ...add demo_MBS_collisionNSC
-- ...add demo_MBS_collisionSMC
-- ...add demo_MBS_earthquake
-- ...add demo_MBS_friction
-- ...add demo_MBS_spring
-- ...add demo_MBS_external_dynamics
-- ...add demo_MBS_hydraulic_actuator
-- ...add demo_MBS_hydraulic_crane
-- ...add demo_MBS_hydraulic_crane_cosim
-- ...add demo_MBS_cohesion
-- ...add demo_MBS_conveyor
-- ...add demo_MBS_feeder
-- ...add demo_MBS_crank
-- ...add demo_MBS_forklift
-- ...add demo_MBS_fourbar
-- ...add demo_MBS_gears
-- ...add demo_MBS_mecanum
-- ...add demo_MBS_pendulum
-- ...add demo_MBS_suspension
-- ...add demo_MBS_tracks
-- ...add demo_MBS_convergence
-- ...add demo_MBS_collision_trimesh
-- ...add demo_MBS_collision_2d
-- ...add demo_MBS_emitter
-- ...add demo_MBS_emit_cluster
-- ...add demo_MBS_emit_processor
-- ...add demo_MBS_rev_sph
-- ...add demo_MBS_rev_trans
-- ...add demo_MBS_rev_limits
-- ...add demo_MBS_rot_spring
-- ...add demo_MBS_ujoint
-- ...add demo_MBS_plane_plane
-- ...add demo_MBS_link_bushing
-- ...add demo_MBS_prismatic_limits
-- ...add demo_MBS_prismatic_force
-- ...add demo_MBS_motors
-- ...add demo_MBS_report_collisions
-- ...add demo_MBS_imposed_motion
-- ...add demo_MBS_custom_contact
-- ...add demo_MBS_collision_object
-- Demo programs for Parsers module...
-- ...add demo_PARSER_OpenSim
-- ...add demo_PARSER_Adams
-- ...add demo_PARSER_URDF
-- ...add demo_PARSER_URDF_Fetch
-- ...add demo_PARSER_URDF_RoboSimian
-- ...add demo_PARSER_Python
-- ...add demo_PARSER_Python_SolidWorks
-- Demo programs for IRRLICHT module...
-- ...add demo_IRR_decomposition
-- ...add demo_IRR_assets
-- ...add demo_IRR_paths
-- ...add demo_IRR_visualize_collision
-- ...add demo_IRR_visualize_FEA
-- ...add demo_IRR_raycast_test
-- Demo programs for VEHICLE module...
-- ...add demo_VEH_M113
-- ...add demo_VEH_Marder
-- ...add demo_VEH_TrackedJSON
-- ...add demo_VEH_TrackedJSON_Band
-- ...add demo_VEH_M113_Band
-- ...add demo_VEH_CityBus
-- ...add demo_VEH_FEDA_SSC
-- ...add demo_VEH_Duro
-- ...add demo_VEH_Gator
-- ...add demo_VEH_HMMWV
-- ...add demo_VEH_HMMWV_Accel
-- ...add demo_VEH_HMMWV_Rollover
-- ...add demo_VEH_HMMWV9
-- ...add demo_VEH_UAZBUS
-- ...add demo_VEH_U401
-- ...add demo_VEH_WheeledGeneric
-- ...add demo_VEH_WheeledJSON
-- ...add demo_VEH_FEDA_Accel
-- ...add demo_VEH_Gator_Accel
-- ...add demo_VEH_HMMWV9_YUP
-- ...add demo_VEH_Kraz_ClosedLoop
-- ...add demo_VEH_Kraz_OpenLoop
-- ...add demo_VEH_LMTV_ride
-- ...add demo_VEH_MAN
-- ...add demo_VEH_MROLE
-- ...add demo_VEH_MTV_ride
-- ...add demo_VEH_ARTcar
-- ...add demo_VEH_Sedan
-- ...add demo_VEH_Sedan_Lockable_Diff
-- ...add demo_VEH_UAZBUS_SAE
-- ...add demo_VEH_TireTestRig
-- ...add demo_VEH_SuspensionTestRig
-- ...add demo_VEH_TrackTestRig
-- ...add demo_VEH_RigidTerrain_WheeledVehicle
-- ...add demo_VEH_SCMTerrain_WheeledVehicle
-- ...add demo_VEH_SCMTerrain_RigidTire
-- ...add demo_VEH_SCMTerrain_TrackedVehicle
-- ...add demo_VEH_Controller_DLC
-- ...add demo_VEH_Controller
-- ...add demo_VEH_Controller_AIDriver
-- ...add demo_VEH_ArticulatedVehicle
-- ...add demo_VEH_TwoCars
-- ...add demo_VEH_Ride
-- ...add demo_VEH_Shock
-- ...add demo_VEH_Cosim_WheelRig
-- ...add demo_VEH_Cosim_WheelRig_CustomTerrain
-- ...add demo_VEH_Cosim_Viper
-- ...add demo_VEH_Cosim_Curiosity
-- ...add demo_VEH_Cosim_WheeledVehicle
-- ...add demo_VEH_Cosim_TrackedVehicle
-- Demo programs for Sensor module...
-- ...add demo_SEN_buildtest
-- ...add demo_SEN_camera
-- ...add demo_SEN_JSON
-- ...add demo_SEN_lidar
-- ...add demo_SEN_GPSIMU
-- ...add demo_SEN_radar
-- ...add demo_SEN_tachometer
-- ...add demo_SEN_radar1
-- ...add demo_SEN_HMMWV
-- ...add demo_SEN_Gator
-- ...add demo_SEN_deformableSoil
-- Demo programs for SynChrono module...
-- ...add demo_SYN_scm
-- ...add demo_SYN_scm_tracked
-- ...add demo_SYN_wheeled
-- ...add demo_SYN_tracked
-- ...add demo_SYN_copter
-- ...add demo_SYN_highway
-- Configuring done (1.9s)
-- Generating done (0.5s)
-- Build files have been written to: /home/cra/chrono-ws/chrono_build
[ 31%] Built target ChronoEngine
[ 31%] Built target ChronoEngine_parsers
[ 32%] Built target ChronoEngine_irrlicht
[ 47%] Built target ChronoEngine_vehicle
[ 48%] Built target ChronoEngine_vehicle_irrlicht
[ 49%] Built target ChronoModels_robot
[ 50%] Built target ChronoEngine_vehicle_cosim
[ 72%] Built target ChronoModels_vehicle
[ 72%] Linking CXX shared library ../../lib/libChronoEngine_sensor.so
[ 76%] Built target ChronoEngine_sensor
[ 76%] Linking CXX shared library ../../lib/libChronoEngine_synchrono.so
[ 77%] Built target ChronoEngine_synchrono
[ 77%] Built target core_swig_compilation
[ 77%] Built target _core
[ 77%] Built target fea_swig_compilation
[ 77%] Built target _fea
[ 77%] Built target irrlicht_swig_compilation
[ 77%] Built target _irrlicht
[ 78%] Built target vehicle_swig_compilation
[ 78%] Built target _vehicle
[ 78%] Built target sensor_swig_compilation
[ 78%] Building CXX object
src/chrono_swig/chrono_python/CMakeFiles/_sensor.dir/__/__/__/chrono_python/ChModuleSensorPYTHON_wrap.cxx.o
/home/cra/chrono-ws/chrono_build/chrono_python/ChModuleSensorPYTHON_wrap.cxx:4462:10:
fatal error: numpy/arrayobject.h: No such file or directory
4462 | #include <numpy/arrayobject.h>
| ^~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: ***
[src/chrono_swig/chrono_python/CMakeFiles/_sensor.dir/build.make:76:
src/chrono_swig/chrono_python/CMakeFiles/_sensor.dir/__/__/__/chrono_python/ChModuleSensorPYTHON_wrap.cxx.o]
Error 1
make[1]: *** [CMakeFiles/Makefile2:1881:
src/chrono_swig/chrono_python/CMakeFiles/_sensor.dir/all] Error 2
make: *** [Makefile:156: all] Error 2
