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ERROR for ik_config_test and trajopt_config_test

Open Treeeplanter opened this issue 9 months ago • 2 comments

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:

  1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): python
  2. python version: 3.10.16
  3. Isaac Sim version (if using):

Issue Details hi, I'm trying to install curobo as a package in python, but can not pass the test after installition.

My Env: PyTorch version: 2.1.0+cu118 CUDA available: True CUDA version (from torch): 11.8 Device count: 1 Device name: NVIDIA GeForce RTX 4090

I have followed the installiztion torturial in the website of curobo and get this:

pip show nvidia-curobo

Name: nvidia_curobo Version: 0.7.6 Summary: GPU robot motion toolkit containing cuda accelerated kinematics, IK, MPC, Global motion planning, and optimization solvers. Home-page: https://curobo.org Author: NVIDIA Seattle Robotics Lab Author-email: License: NVIDIA Location: /home/shuo/anaconda3/envs/mjthor/lib/python3.10/site-packages Editable project location: /home/shuo/research/mujoco-thor/external_src/curobo Requires: importlib_resources, networkx, numpy, numpy-quaternion, pybind11, pyyaml, scikit-image, scipy, setuptools_scm, torch, tqdm, trimesh, warp-lang, wheel, yourdfpy

then I run test and found that I can not pass the test:

python3 -m pytest .

========================================================================= test session starts ========================================================================= platform linux -- Python 3.10.16, pytest-8.3.5, pluggy-1.5.0 rootdir: /home/shuo/research/mujoco-thor/external_src/curobo configfile: pyproject.toml plugins: anyio-4.9.0, dash-3.0.2 collected 258 items / 2 errors / 3 skipped

=============================================================================== ERRORS ================================================================================ ______________________________________________________________ ERROR collecting tests/ik_config_test.py _______________________________________________________________ tests/ik_config_test.py:134: in (ik_base_config(), True), tests/ik_config_test.py:39: in ik_base_config ik_config = IKSolverConfig.load_from_robot_config( /home/shuo/anaconda3/envs/mjthor/lib/python3.10/contextlib.py:79: in inner return func(*args, **kwds) src/curobo/wrap/reacher/ik_solver.py:293: in load_from_robot_config grad_cfg = ArmReacherConfig.from_dict( /home/shuo/anaconda3/envs/mjthor/lib/python3.10/contextlib.py:79: in inner return func(*args, **kwds) src/curobo/rollout/arm_base.py:195: in from_dict cost = cls.cost_from_dict( src/curobo/rollout/arm_reacher.py:141: in cost_from_dict return ArmReacherCostConfig.from_dict( src/curobo/rollout/arm_reacher.py:118: in from_dict data = ArmCostConfig._get_formatted_dict( src/curobo/rollout/arm_base.py:94: in _get_formatted_dict data[k] = cost_key_list[k](**data_dict[k], tensor_args=tensor_args) :19: in init ??? src/curobo/rollout/cost/dist_cost.py:44: in post_init return super().post_init() src/curobo/rollout/cost/cost_base.py:39: in post_init self.weight = self.tensor_args.to_device(self.weight) src/curobo/types/base.py:35: in to_device return torch.as_tensor(np.array(data_tensor), device=self.device, dtype=self.dtype) E TypeError: len() of unsized object ____________________________________________________________ ERROR collecting tests/trajopt_config_test.py ____________________________________________________________ tests/trajopt_config_test.py:115: in (trajopt_base_config(), True), tests/trajopt_config_test.py:35: in trajopt_base_config trajopt_config = TrajOptSolverConfig.load_from_robot_config( /home/shuo/anaconda3/envs/mjthor/lib/python3.10/contextlib.py:79: in inner return func(*args, **kwds) src/curobo/wrap/reacher/trajopt.py:399: in load_from_robot_config grad_cfg = ArmReacherConfig.from_dict( /home/shuo/anaconda3/envs/mjthor/lib/python3.10/contextlib.py:79: in inner return func(*args, **kwds) src/curobo/rollout/arm_base.py:195: in from_dict cost = cls.cost_from_dict( src/curobo/rollout/arm_reacher.py:141: in cost_from_dict return ArmReacherCostConfig.from_dict( src/curobo/rollout/arm_reacher.py:118: in from_dict data = ArmCostConfig._get_formatted_dict( src/curobo/rollout/arm_base.py:94: in _get_formatted_dict data[k] = cost_key_list[k](**data_dict[k], tensor_args=tensor_args) :19: in init ??? src/curobo/rollout/cost/dist_cost.py:44: in post_init return super().post_init() src/curobo/rollout/cost/cost_base.py:39: in post_init self.weight = self.tensor_args.to_device(self.weight) src/curobo/types/base.py:35: in to_device return torch.as_tensor(np.array(data_tensor), device=self.device, dtype=self.dtype) E TypeError: len() of unsized object ======================================================================= short test summary info ======================================================================= ERROR tests/ik_config_test.py - TypeError: len() of unsized object ERROR tests/trajopt_config_test.py - TypeError: len() of unsized object !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Interrupted: 2 errors during collection !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ==================================================================== 3 skipped, 2 errors in 2.16s =====================================================================. It did not happen for another repo, where I also used curobo as another source, can you help me? thank you!

Treeeplanter avatar Apr 07 '25 01:04 Treeeplanter

Not sure what's happening here. We do have it installed and working with python 3.10. Are you able to run this inside a docker on the same machine?

balakumar-s avatar Apr 25 '25 20:04 balakumar-s

Thank you! I have solved this problem by changing the sequence of install curobo and ompl, I don't know why. I found that I should install curobo first then the version will be 0.0.0, otherwise it will be 1.7.3.

On Fri, Apr 25, 2025 at 1:12 PM Balakumar Sundaralingam < @.***> wrote:

balakumar-s left a comment (NVlabs/curobo#492) https://urldefense.com/v3/__https://github.com/NVlabs/curobo/issues/492*issuecomment-2831346070__;Iw!!K-Hz7m0Vt54!hF8qspZnTXc0uxx1wIRe82kwticGquy_3qo0qv-gt5iSefidIsWYbObjIx9DdNyPpgueBqNPbndxnBB6HBleWCg$

Not sure what's happening here. We do have it installed and working with python 3.10. Are you able to run this inside a docker on the same machine?

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Treeeplanter avatar Apr 25 '25 22:04 Treeeplanter