marctoussaint / rai Goto Github PK

I think this is missing k_order, i.e., the line should be:

self->pathConfig.setFrameState( X, self->timeSlices[self->k_order + t] );

This at least fixes the 'redo optimization' example in 3-IK-optimization.ipynb.

I can create a pull request if that is easier/preferred.

Hello,
during the installation, i got the following error:
qhull.cpp:24:27: fatal error: qhull/qhull_a.h: No such file or directory
fatal error: assimp/Importer.hpp: No such file or directory
***** FAILED ../../../rai/Geo/libGeo.so
***** FAILED ../../rai/Plot/libPlot.so
Do you have some suggestions? Thanks.

Hello, your great robotics AI is really charming. But there is a small problem after compiling this repo (after make), that is, the user needs to put the folder 'rai-robotModels' in the same directory as this repo (one directory, containing 2 folders), or the test programs cannot find the relative model files. An example is that when running test/LGP/pickAndPlace, it will always fail without 'rai-robotModels'.

Moreover, there are some test case that I cannot pass, e.g. , test/Optim/ipopt, test/Optim/ceres, test/Logic/fol, etc.. I assume that this is because the lack of relative dependencies, but I'm not sure about the specific name and installation. Actually, I've installed Ceres, but as mentioned above the test about ceres fails. Do I need to install all the dependencies listed in config.mk to get this repo fully worked? I'm a bit worry about it since installations of various dependencies are onerous.

Below are my output when running 'make runTests', and the content of config.mk.
`* Running test/Geo/geo

     * Running  test/Geo/convex

     * Running  test/Geo/PairCollisions

     * Running  test/Geo/mesh

     * Running  test/KOMO/komo

     * Running  test/KOMO/switches

     * Running  test/KOMO/tutorial

     * Running  test/KOMO/seq

     * Running  test/Core/array

     * Running  test/Core/graph

     * Running  test/Core/thread

     * Running  test/Core/util

     * Running  test/Gui/opengl_windowless

     * Running  test/Gui/opengl_mini

     * Running  test/Gui/opengl_threaded

     * Running  test/Gui/projections

     * Running  test/Gui/opengl

     * Running  test/Optim/optim

     * Running  test/Optim/ipopt

 ***** FAILED   test/Optim/ipopt  with return code  1

     * Running  test/Optim/KOMO_problem

     * Running  test/Optim/nlopt

     * Running  test/Optim/constrained

     * Running  test/Optim/ceres

 ***** FAILED   test/Optim/ceres  with return code  134

     * Running  test/Logic/relationalMachine

     * Running  test/Logic/player

     * Running  test/Logic/fol

 ***** FAILED   test/Logic/fol  with return code  134

     * Running  test/Logic/pddl

 ***** FAILED   test/Logic/pddl  with return code  134

     * Running  test/Kin/CameraView

     * Running  test/Kin/pairCollision_jacobians

     * Running  test/Kin/features

     * Running  test/Kin/kin

 ***** FAILED   test/Kin/kin  with return code  134

     * Running  test/Kin/physx

 ***** FAILED   test/Kin/physx  with return code  1

     * Running  test/Kin/dynamics

 ***** FAILED   test/Kin/dynamics  with return code  134    

     * Running  test/Kin/assimp  

 ***** FAILED   test/Kin/assimp  with return code  134  

     * Running  test/Kin/SSB_distance  

     * Running  test/Kin/swift  

     * Running  test/Algo/splines  

     * Running  test/Algo/ML-regression  

     * Running  test/Algo/ann  

     * Running  test/LGP/pickAndPlace  

 ***** TIMEOUT  test/LGP/pickAndPlace  `

config.mk:
`#OPTIM = debug
#OPTIM = fast_debug

#GL = 0
OPENCV = 0
GRAPHVIZ = 0
GTK = 0
G4 = 0
PYBIND = 0
PNG = 0

#EIGEN = 0
#CERES = 0
#NLOPT = 0
#IPOPT = 0

FCL = 0
PCL = 0
ODE = 0
PHYSX = 0
BULLET = 0
BULLET_UBUNTU = 0

ROS = 0
ROS_VERSION = melodic`

Hi,

the following libraries seem requested when using PhysX "-lPhysXExtensions_static_64 -lPhysX_static_64 -lPhysXCooking_static_64 -lPhysXCommon_static_64 -lPhysXFoundation_static_64" (set in defines.mk file). The project does not provide any reference for these dependencies.

Any help for overcoming this problem is appreciated.
Thanks.

Mattia