pinocchio
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Published
20 hours ago •
stack-of-tasks
stack-of-tasks
Failed to install Pinocchio on Jetson Orin
Bug description
Gives an error when install pinocchio using pip install pin inside an Isaac ROS docker container deployed on a NVIDIA Jetson Orin.
Expected behavior
Installs pinocchio successfully.
Reproduction steps
- Follow the steps here to install the Isaac ROS docker
- Run
run_dev.shfollowing the steps here to run the docker container - run
pip install pininside the container.
Docker image
See above
Additional context
This is the error message:
python3 -m pip install pin==2.6.21 proxsuite
Collecting pin==2.6.21
Downloading pin-2.6.21.tar.gz (61.8 MB)
|████████████████████████████████| 61.8 MB 15.2 MB/s
Installing build dependencies ... error
ERROR: Command errored out with exit status 1:
command: /usr/bin/python3 /usr/lib/python3/dist-packages/pip install --ignore-installed --no-user --prefix /tmp/pip-build-env-wy7o9b6f/overlay --no-warn-script-location --no-binary :none: --only-binary :none: -i https://pypi.org/simple -- 'cmeel-boost ~= 1.83.0' 'cmeel-urdfdom[build] >= 3.1.0.3, < 4' 'cmeel[build]' 'hpp-fcl[build] >= 2.3.4, < 4'
cwd: None
Complete output (296 lines):
Collecting cmeel-boost~=1.83.0
Using cached cmeel_boost-1.83.0.tar.gz (4.0 kB)
Installing build dependencies: started
Installing build dependencies: finished with status 'done'
Getting requirements to build wheel: started
Getting requirements to build wheel: finished with status 'done'
Preparing wheel metadata: started
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: finished with status 'done'
Collecting cmeel-urdfdom[build]<4,>=3.1.0.3
Downloading cmeel_urdfdom-3.1.1.1.tar.gz (292 kB)
Installing build dependencies: started
Installing build dependencies: finished with status 'done'
Getting requirements to build wheel: started
Getting requirements to build wheel: finished with status 'done'
Preparing wheel metadata: started
Preparing wheel metadata: finished with status 'done'
Collecting cmeel[build]
Using cached cmeel-0.53.3-py3-none-any.whl (20 kB)
Collecting hpp-fcl[build]<4,>=2.3.4
Downloading hpp_fcl-2.4.1.tar.gz (3.2 MB)
Installing build dependencies: started
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: still running...
Installing build dependencies: finished with status 'error'
ERROR: Command errored out with exit status 1:
command: /usr/bin/python3 /usr/lib/python3/dist-packages/pip install --ignore-installed --no-user --prefix /tmp/pip-build-env-1tiji5hd/overlay --no-warn-script-location --no-binary :none: --only-binary :none: -i https://pypi.org/simple -- 'cmeel-assimp >= 5.3.1, < 6' 'cmeel-boost ~= 1.83.0' 'cmeel-octomap >= 1.9.8.2, < 2' 'cmeel-qhull >= 8.0.2.1, < 8.0.3' 'cmeel[build]' 'eigenpy[build] >= 3.1, < 4'
cwd: None
Complete output (254 lines):
Collecting cmeel-assimp<6,>=5.3.1
Downloading cmeel_assimp-5.3.1.tar.gz (52.6 MB)
Installing build dependencies: started
Installing build dependencies: finished with status 'done'
Getting requirements to build wheel: started
Getting requirements to build wheel: finished with status 'done'
Preparing wheel metadata: started
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: finished with status 'done'
WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ProtocolError('Connection aborted.', OSError("(104, 'ECONNRESET')"))': /simple/cmeel-boost/
Collecting cmeel-boost~=1.83.0
Using cached cmeel_boost-1.83.0.tar.gz (4.0 kB)
Installing build dependencies: started
Installing build dependencies: finished with status 'done'
Getting requirements to build wheel: started
Getting requirements to build wheel: finished with status 'done'
Preparing wheel metadata: started
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: still running...
Preparing wheel metadata: finished with status 'done'
Collecting cmeel-octomap<2,>=1.9.8.2
WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ProtocolError('Connection aborted.', OSError("(104, 'ECONNRESET')"))': /packages/34/66/a3a9105f2a188bd8c75a3b453e748b9a0a78115be0babc9ac4ba949c2414/cmeel_octomap-1.9.8.2.tar.gz
Downloading cmeel_octomap-1.9.8.2.tar.gz (1.7 MB)
Installing build dependencies: started
Installing build dependencies: finished with status 'done'
Getting requirements to build wheel: started
Getting requirements to build wheel: finished with status 'done'
Preparing wheel metadata: started
Preparing wheel metadata: finished with status 'error'
ERROR: Command errored out with exit status 1:
command: /usr/bin/python3 /tmp/tmpfe2m5gwd prepare_metadata_for_build_wheel /tmp/tmptsnph3rn
cwd: /tmp/pip-install-e33zyp98/cmeel-octomap
Complete output (213 lines):
CMake Deprecation Warning at CMakeLists.txt:1 (CMAKE_MINIMUM_REQUIRED):
Compatibility with CMake < 3.5 will be removed from a future version of
CMake.
Update the VERSION argument <min> value or use a ...<max> suffix to tell
CMake that the project does not need compatibility with older versions.
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- octomap building as Release
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
-- Compile octomap using: make
-- Install octomap using: make install
-- (be sure to set the correct CMAKE_INSTALL_PREFIX before)
-- Compile API-documentation using: make docs
-- Configuring done (0.7s)
-- Generating done (0.1s)
CMake Warning:
Manually-specified variables were not used by the project:
Boost_NO_WARN_NEW_VERSIONS
CMAKE_APPLE_SILICON_PROCESSOR
CMEEL_JOBS
PYTHON_SITELIB
Python3_EXECUTABLE
-- Build files have been written to: /tmp/cmeel-m3uzoocm/bld
[ 4%] Building CXX object src/math/CMakeFiles/octomath.dir/Vector3.cpp.o
[ 5%] Building CXX object src/math/CMakeFiles/octomath.dir/Pose6D.cpp.o
[ 5%] Building CXX object src/math/CMakeFiles/octomath.dir/Quaternion.cpp.o
[ 5%] Building CXX object src/math/CMakeFiles/octomath-static.dir/Vector3.cpp.o
[ 6%] Building CXX object src/math/CMakeFiles/octomath-static.dir/Quaternion.cpp.o
[ 8%] Building CXX object src/math/CMakeFiles/octomath-static.dir/Pose6D.cpp.o
[ 9%] Linking CXX shared library /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/lib/liboctomath.so
[ 9%] Built target octomath
[ 12%] Building CXX object src/CMakeFiles/octomap.dir/AbstractOccupancyOcTree.cpp.o
[ 12%] Building CXX object src/CMakeFiles/octomap.dir/AbstractOcTree.cpp.o
[ 13%] Building CXX object src/CMakeFiles/octomap.dir/Pointcloud.cpp.o
[ 14%] Linking CXX static library /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/lib/liboctomath.a
[ 14%] Built target octomath-static
[ 16%] Building CXX object src/CMakeFiles/octomap.dir/ScanGraph.cpp.o
[ 17%] Building CXX object src/CMakeFiles/octomap.dir/CountingOcTree.cpp.o
[ 18%] Building CXX object src/CMakeFiles/octomap.dir/OcTree.cpp.o
[ 20%] Building CXX object src/CMakeFiles/octomap.dir/OcTreeNode.cpp.o
[ 21%] Building CXX object src/CMakeFiles/octomap.dir/OcTreeStamped.cpp.o
[ 22%] Building CXX object src/CMakeFiles/octomap.dir/ColorOcTree.cpp.o
[ 24%] Building CXX object src/CMakeFiles/octomap-static.dir/AbstractOcTree.cpp.o
[ 25%] Building CXX object src/CMakeFiles/octomap-static.dir/AbstractOccupancyOcTree.cpp.o
[ 27%] Building CXX object src/CMakeFiles/octomap-static.dir/Pointcloud.cpp.o
[ 28%] Building CXX object src/CMakeFiles/octomap-static.dir/ScanGraph.cpp.o
[ 29%] Building CXX object src/CMakeFiles/octomap-static.dir/CountingOcTree.cpp.o
[ 31%] Building CXX object src/CMakeFiles/octomap-static.dir/OcTree.cpp.o
[ 32%] Linking CXX shared library /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/lib/liboctomap.so
[ 32%] Built target octomap
[ 33%] Building CXX object src/CMakeFiles/octomap-static.dir/OcTreeNode.cpp.o
[ 35%] Building CXX object src/CMakeFiles/octomap-static.dir/OcTreeStamped.cpp.o
[ 36%] Building CXX object src/CMakeFiles/graph2tree.dir/graph2tree.cpp.o
[ 37%] Building CXX object src/CMakeFiles/octomap-static.dir/ColorOcTree.cpp.o
[ 39%] Building CXX object src/CMakeFiles/log2graph.dir/log2graph.cpp.o
[ 40%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/log2graph
[ 40%] Built target log2graph
[ 41%] Building CXX object src/CMakeFiles/binvox2bt.dir/binvox2bt.cpp.o
[ 43%] Building CXX object src/CMakeFiles/bt2vrml.dir/bt2vrml.cpp.o
[ 44%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/graph2tree
[ 44%] Built target graph2tree
[ 45%] Building CXX object src/CMakeFiles/edit_octree.dir/edit_octree.cpp.o
[ 47%] Linking CXX static library /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/lib/liboctomap.a
[ 47%] Built target octomap-static
[ 48%] Building CXX object src/CMakeFiles/convert_octree.dir/convert_octree.cpp.o
[ 50%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/binvox2bt
[ 50%] Built target binvox2bt
[ 51%] Building CXX object src/CMakeFiles/eval_octree_accuracy.dir/eval_octree_accuracy.cpp.o
[ 52%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/bt2vrml
[ 54%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/edit_octree
[ 54%] Built target bt2vrml
[ 55%] Building CXX object src/CMakeFiles/compare_octrees.dir/compare_octrees.cpp.o
[ 55%] Built target edit_octree
[ 56%] Building CXX object src/CMakeFiles/simple_example.dir/simple_example.cpp.o
[ 58%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/convert_octree
[ 58%] Built target convert_octree
[ 59%] Building CXX object src/CMakeFiles/normals_example.dir/normals_example.cpp.o
[ 60%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/eval_octree_accuracy
[ 60%] Built target eval_octree_accuracy
[ 62%] Building CXX object src/CMakeFiles/intersection_example.dir/intersection_example.cpp.o
[ 63%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/compare_octrees
[ 63%] Built target compare_octrees
[ 64%] Building CXX object src/CMakeFiles/octree2pointcloud.dir/octree2pointcloud.cpp.o
[ 66%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/simple_example
[ 67%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/octree2pointcloud
[ 67%] Built target simple_example
[ 68%] Building CXX object src/testing/CMakeFiles/test_raycasting.dir/test_raycasting.cpp.o
[ 68%] Built target octree2pointcloud
[ 70%] Building CXX object src/testing/CMakeFiles/test_iterators.dir/test_iterators.cpp.o
[ 71%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/normals_example
[ 71%] Built target normals_example
[ 72%] Building CXX object src/testing/CMakeFiles/test_io.dir/test_io.cpp.o
[ 74%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/intersection_example
[ 74%] Built target intersection_example
[ 75%] Building CXX object src/testing/CMakeFiles/test_changedkeys.dir/test_changedkeys.cpp.o
[ 77%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_raycasting
[ 77%] Built target test_raycasting
[ 78%] Building CXX object src/testing/CMakeFiles/test_scans.dir/test_scans.cpp.o
[ 79%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_changedkeys
[ 79%] Built target test_changedkeys
[ 81%] Building CXX object src/testing/CMakeFiles/test_color_tree.dir/test_color_tree.cpp.o
[ 82%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_iterators
[ 82%] Built target test_iterators
[ 83%] Building CXX object src/testing/CMakeFiles/color_tree_histogram.dir/color_tree_histogram.cpp.o
[ 85%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_scans
[ 85%] Built target test_scans
[ 86%] Building CXX object src/testing/CMakeFiles/test_mapcollection.dir/test_mapcollection.cpp.o
[ 87%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_io
[ 87%] Built target test_io
[ 89%] Building CXX object src/testing/CMakeFiles/test_pruning.dir/test_pruning.cpp.o
[ 90%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/color_tree_histogram
[ 90%] Built target color_tree_histogram
[ 91%] Building CXX object src/testing/CMakeFiles/test_bbx.dir/test_bbx.cpp.o
[ 93%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_color_tree
[ 93%] Built target test_color_tree
[ 94%] Building CXX object src/testing/CMakeFiles/unit_tests.dir/unit_tests.cpp.o
[ 95%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_mapcollection
[ 95%] Built target test_mapcollection
[ 97%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_bbx
[ 97%] Built target test_bbx
[ 98%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/test_pruning
[ 98%] Built target test_pruning
[100%] Linking CXX executable /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/bin/unit_tests
[100%] Built target unit_tests
Running tests...
Test project /tmp/cmeel-m3uzoocm/bld
Start 4: InsertScan
Start 1: MathVector
Start 2: MathPose
Start 3: InsertRay
1/15 Test #1: MathVector ....................... Passed 0.00 sec
Start 6: StampedTree
2/15 Test #2: MathPose ......................... Passed 0.00 sec
Start 7: OcTreeKey
3/15 Test #7: OcTreeKey ........................ Passed 0.00 sec
Start 8: test_scans
4/15 Test #8: test_scans ....................... Passed 0.13 sec
Start 9: test_raycasting
5/15 Test #4: InsertScan ....................... Passed 0.62 sec
Start 5: ReadGraph
6/15 Test #5: ReadGraph ........................ Passed 0.02 sec
Start 10: test_io
7/15 Test #3: InsertRay ........................ Passed 0.98 sec
Start 11: test_pruning
8/15 Test #11: test_pruning ..................... Passed 0.05 sec
Start 12: test_iterators
9/15 Test #6: StampedTree ...................... Passed 1.05 sec
Start 13: test_mapcollection
10/15 Test #10: test_io .......................... Passed 0.54 sec
Start 14: test_color_tree
11/15 Test #14: test_color_tree ..................***Failed 0.10 sec
test failed: 3431!=1034 in /tmp/pip-install-e33zyp98/cmeel-octomap/octomap/octomap/src/testing/test_color_tree.cpp, line 52
Start 15: test_bbx
12/15 Test #15: test_bbx ......................... Passed 0.00 sec
13/15 Test #13: test_mapcollection ............... Passed 0.24 sec
14/15 Test #12: test_iterators ................... Passed 0.61 sec
15/15 Test #9: test_raycasting .................. Passed 1.59 sec
93% tests passed, 1 tests failed out of 15
Total Test time (real) = 1.74 sec
The following tests FAILED:
14 - test_color_tree (Failed)
Errors while running CTest
make: *** [Makefile:91: test] Error 8
Traceback (most recent call last):
File "/tmp/tmpfe2m5gwd", line 126, in prepare_metadata_for_build_wheel
hook = backend.prepare_metadata_for_build_wheel
AttributeError: module 'cmeel' has no attribute 'prepare_metadata_for_build_wheel'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/tmp/tmpfe2m5gwd", line 280, in <module>
main()
File "/tmp/tmpfe2m5gwd", line 263, in main
json_out['return_val'] = hook(**hook_input['kwargs'])
File "/tmp/tmpfe2m5gwd", line 130, in prepare_metadata_for_build_wheel
return _get_wheel_metadata_from_wheel(backend, metadata_directory,
File "/tmp/tmpfe2m5gwd", line 159, in _get_wheel_metadata_from_wheel
whl_basename = backend.build_wheel(metadata_directory, config_settings)
File "/tmp/pip-build-env-ji3vfh3k/overlay/lib/python3.8/site-packages/cmeel/build.py", line 26, in build_wheel
return build_impl(wheel_directory, editable=False)
File "/tmp/pip-build-env-ji3vfh3k/overlay/lib/python3.8/site-packages/cmeel/impl.py", line 107, in build_impl
launch_tests(True, run_tests and not run_tests_after_install, pyproject, build)
File "/tmp/pip-build-env-ji3vfh3k/overlay/lib/python3.8/site-packages/cmeel/utils.py", line 231, in launch_tests
check_call(cmd, env=test_env)
File "/usr/lib/python3.8/subprocess.py", line 364, in check_call
raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['cmake', '--build', '/tmp/cmeel-m3uzoocm/bld', '-t', 'test']' returned non-zero exit status 2.
----------------------------------------
ERROR: Command errored out with exit status 1: /usr/bin/python3 /tmp/tmpfe2m5gwd prepare_metadata_for_build_wheel /tmp/tmptsnph3rn Check the logs for full command output.
----------------------------------------
ERROR: Command errored out with exit status 1: /usr/bin/python3 /usr/lib/python3/dist-packages/pip install --ignore-installed --no-user --prefix /tmp/pip-build-env-1tiji5hd/overlay --no-warn-script-location --no-binary :none: --only-binary :none: -i https://pypi.org/simple -- 'cmeel-assimp >= 5.3.1, < 6' 'cmeel-boost ~= 1.83.0' 'cmeel-octomap >= 1.9.8.2, < 2' 'cmeel-qhull >= 8.0.2.1, < 8.0.3' 'cmeel[build]' 'eigenpy[build] >= 3.1, < 4' Check the logs for full command output.
----------------------------------------
ERROR: Command errored out with exit status 1: /usr/bin/python3 /usr/lib/python3/dist-packages/pip install --ignore-installed --no-user --prefix /tmp/pip-build-env-wy7o9b6f/overlay --no-warn-script-location --no-binary :none: --only-binary :none: -i https://pypi.org/simple -- 'cmeel-boost ~= 1.83.0' 'cmeel-urdfdom[build] >= 3.1.0.3, < 4' 'cmeel[build]' 'hpp-fcl[build] >= 2.3.4, < 4' Check the logs for full command output.
System
- OS: [e.g. Ubuntu 20.04]
- Pinocchio version: [e.g. 2.7.0]
It looks like you have an issue not directly related to pinocchio itself rather to its dependency.
I think the problem is that cmeel-octomap does not have pre-built package for your architecture and whilst trying to install you encounter some error.
cmeel-octomap binary packages should be available for python 3.8 on aarch64. I'll double check this on Monday.
@lwygzh : just to be sure, could you try again after a python3 -m pip install -U --user pip ?
Yes, cmeel-octomap seem to contain aarch64 built, may it be the case that it should be something different from manylinux ?
My guess is that the pip version is too old for manylinux_2_28. After a pip upgrade, it should be fine.