I tried to run the https://github.com/ami-iit/comodo/blob/main/examples/drake_walking.ipynb example notebook from the main branch, and I'm getting the following error:
# Modify the robot model and initialize
create_urdf_instance.modify_lengths(modifications)
urdf_robot_string = create_urdf_instance.write_urdf_to_file()
create_urdf_instance.reset_modifications()
robot_model_init = RobotModel(urdf_robot_string, "stickBot", joint_name_list)
s_des, xyz_rpy, H_b = robot_model_init.compute_desired_position_walking()
robot_model_init.set_foot_corner(
np.asarray([0.1, 0.05, 0.0]),
np.asarray([0.1, -0.05, 0.0]),
np.asarray([-0.1, -0.05, 0.0]),
np.asarray([-0.1, 0.05, 0.0]),
)
In order to make the notebook run I had to add this statement, after the s_des, xyz_rpy, H_b = robot_model_init.compute_desired_position_walking() :
robot_model_init.set_foot_corner(
np.asarray([0.1, 0.05, 0.0]),
np.asarray([0.1, -0.05, 0.0]),
np.asarray([-0.1, -0.05, 0.0]),
np.asarray([-0.1, 0.05, 0.0]),
)System info
I'm using bipedal-locomotion-framework==0.19.0 and drake==1.34.0
Conda list
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opt-einsum 3.4.0 hd8ed1ab_0 conda-forge
opt_einsum 3.4.0 pyhd8ed1ab_0 conda-forge
optax 0.2.3 pyhd8ed1ab_0 conda-forge
osqp-eigen 0.8.1 hdd734ac_1 conda-forge
overrides 7.7.0 pyhd8ed1ab_0 conda-forge
p11-kit 0.24.1 hc5aa10d_0 conda-forge
packaging 24.1 pyhd8ed1ab_0 conda-forge
pandocfilters 1.5.0 pyhd8ed1ab_0 conda-forge
parso 0.8.4 pyhd8ed1ab_0 conda-forge
pcl 1.14.1 hd932182_6 conda-forge
pcre2 10.44 hba22ea6_2 conda-forge
pexpect 4.9.0 pyhd8ed1ab_0 conda-forge
pickleshare 0.7.5 py_1003 conda-forge
pillow 11.0.0 py310hfeaa1f3_0 conda-forge
pip 24.2 pyh8b19718_1 conda-forge
pixman 0.43.2 h59595ed_0 conda-forge
pkgutil-resolve-name 1.3.10 pyhd8ed1ab_1 conda-forge
platformdirs 4.3.6 pyhd8ed1ab_0 conda-forge
portaudio 19.6.0 h7c63dc7_9 conda-forge
pptree 3.1 pyhd8ed1ab_0 conda-forge
prettytable 3.11.0 pyhd8ed1ab_0 conda-forge
proj 9.5.0 h12925eb_0 conda-forge
prometheus_client 0.21.0 pyhd8ed1ab_0 conda-forge
prompt-toolkit 3.0.48 pyha770c72_0 conda-forge
propcache 0.2.0 py310ha75aee5_2 conda-forge
proxsuite 0.6.7 py310h3788b33_1 conda-forge
psutil 6.0.0 py310ha75aee5_2 conda-forge
pthread-stubs 0.4 hb9d3cd8_1002 conda-forge
ptyprocess 0.7.0 pyhd3deb0d_0 conda-forge
pugixml 1.14 h59595ed_0 conda-forge
pulseaudio-client 17.0 hb77b528_0 conda-forge
pure_eval 0.2.3 pyhd8ed1ab_0 conda-forge
pybind11-abi 4 hd8ed1ab_3 conda-forge
pycollada 0.8 pyhd8ed1ab_0 conda-forge
pycparser 2.22 pyhd8ed1ab_0 conda-forge
pydot 3.0.2 pypi_0 pypi
pyglet 1.5.16 py310hff52083_1 conda-forge
pyglfw 2.7.0 pyha770c72_1 conda-forge
pygments 2.18.0 pyhd8ed1ab_0 conda-forge
pyopengl 3.1.6 pyhd8ed1ab_1 conda-forge
pyparsing 3.2.0 pyhd8ed1ab_1 conda-forge
pyribbit 0.1.46 pyha21a80b_0 conda-forge
pyside6 6.7.3 py310hfd10a26_1 conda-forge
pysocks 1.7.1 pyha2e5f31_6 conda-forge
python 3.10.15 h4a871b0_2_cpython conda-forge
python-dateutil 2.9.0 pyhd8ed1ab_0 conda-forge
python-fastjsonschema 2.20.0 pyhd8ed1ab_0 conda-forge
python-json-logger 2.0.7 pyhd8ed1ab_0 conda-forge
python_abi 3.10 5_cp310 conda-forge
pytorch 2.4.1 cpu_generic_py310h6bb2ca9_2 conda-forge
pytz 2024.2 pyhd8ed1ab_0 conda-forge
pyyaml 6.0.2 py310ha75aee5_1 conda-forge
pyzmq 26.2.0 py310h71f11fc_3 conda-forge
qhull 2020.2 h434a139_5 conda-forge
qt-main 5.15.8 h3155989_26 conda-forge
qt6-main 6.7.3 h20baabe_0 conda-forge
re2 2024.07.02 h77b4e00_1 conda-forge
readline 8.2 h8228510_1 conda-forge
referencing 0.35.1 pyhd8ed1ab_0 conda-forge
requests 2.32.3 pyhd8ed1ab_0 conda-forge
resolve-robotics-uri-py 0.3.0 pyhd8ed1ab_0 conda-forge
rfc3339-validator 0.1.4 pyhd8ed1ab_0 conda-forge
rfc3986-validator 0.1.1 pyh9f0ad1d_0 conda-forge
rich 13.9.3 pyhd8ed1ab_0 conda-forge
robot-testing-framework 2.0.1 hcb278e6_1 conda-forge
rod 0.3.3 pyhd8ed1ab_0 conda-forge
rpds-py 0.20.0 py310h505e2c1_1 conda-forge
ruby 3.3.3 h3da8d8b_0 conda-forge
scipy 1.14.1 py310hfcf56fc_1 conda-forge
sdl 1.2.68 h293081c_0 conda-forge
sdl2 2.30.7 h3ed165c_0 conda-forge
send2trash 1.8.3 pyh0d859eb_0 conda-forge
setuptools 75.1.0 pyhd8ed1ab_0 conda-forge
shtab 1.7.1 pyhd8ed1ab_0 conda-forge
simde 0.8.2 h84d6215_0 conda-forge
six 1.16.0 pyh6c4a22f_0 conda-forge
sleef 3.7 h1b44611_0 conda-forge
snappy 1.2.1 ha2e4443_0 conda-forge
sniffio 1.3.1 pyhd8ed1ab_0 conda-forge
soupsieve 2.5 pyhd8ed1ab_1 conda-forge
soxr 0.1.3 h0b41bf4_3 conda-forge
spdlog 1.14.1 hed91bc2_1 conda-forge
sqlite 3.47.0 h9eae976_0 conda-forge
stack_data 0.6.2 pyhd8ed1ab_0 conda-forge
svt-av1 2.3.0 h5888daf_0 conda-forge
sympy 1.13.3 pyh2585a3b_104 conda-forge
sysroot_linux-64 2.17 h4a8ded7_17 conda-forge
tbb 2021.13.0 h84d6215_0 conda-forge
tbb-devel 2021.13.0 h94b29a5_0 conda-forge
terminado 0.18.1 pyh0d859eb_0 conda-forge
tiny-process-library 2.0.4 h5888daf_2 conda-forge
tinycss2 1.3.0 pyhd8ed1ab_0 conda-forge
tinyxml 2.6.2 h4bd325d_2 conda-forge
tinyxml2 10.0.0 h59595ed_0 conda-forge
tk 8.6.13 noxft_h4845f30_101 conda-forge
tl-optional 1.1.0 hf52228f_1 conda-forge
tomli 2.0.2 pyhd8ed1ab_0 conda-forge
tomlplusplus 3.3.0 hcb278e6_0 conda-forge
toolz 1.0.0 pyhd8ed1ab_0 conda-forge
tornado 6.4.1 py310ha75aee5_1 conda-forge
tqdm 4.67.0 pyhd8ed1ab_0 conda-forge
traitlets 5.14.3 pyhd8ed1ab_0 conda-forge
trimesh 4.4.9 pyhd8ed1ab_0 conda-forge
types-python-dateutil 2.9.0.20241003 pyhff2d567_0 conda-forge
typing-extensions 4.12.2 hd8ed1ab_0 conda-forge
typing_extensions 4.12.2 pyha770c72_0 conda-forge
typing_utils 0.1.0 pyhd8ed1ab_0 conda-forge
tyro 0.8.14 pyhd8ed1ab_0 conda-forge
tzdata 2024b hc8b5060_0 conda-forge
unicodedata2 15.1.0 py310ha75aee5_1 conda-forge
unixodbc 2.3.12 h661eb56_0 conda-forge
urchin 0.0.27 pyha21a80b_0 conda-forge
urdf-parser-py 0.0.4 pypi_0 pypi
urdfdom 4.0.1 h7fd8c06_0 conda-forge
urdfdom-py 1.2.1 py310hff52083_5 conda-forge
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urdfmodifiers 0.0.2 pypi_0 pypi
uri-template 1.3.0 pyhd8ed1ab_0 conda-forge
urllib3 2.2.3 pyhd8ed1ab_0 conda-forge
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visit_struct 1.1.0 hcb278e6_0 conda-forge
vtk 9.3.1 qt_py310he5e186c_207 conda-forge
vtk-base 9.3.1 qt_py310he2a704d_207 conda-forge
vtk-io-ffmpeg 9.3.1 qt_py310hc8241c7_207 conda-forge
wayland 1.23.1 h3e06ad9_0 conda-forge
wayland-protocols 1.37 hd8ed1ab_0 conda-forge
wcwidth 0.2.13 pyhd8ed1ab_0 conda-forge
webcolors 24.8.0 pyhd8ed1ab_0 conda-forge
webencodings 0.5.1 pyhd8ed1ab_2 conda-forge
websocket-client 1.8.0 pyhd8ed1ab_0 conda-forge
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wslink 2.2.1 pyhd8ed1ab_0 conda-forge
x264 1!164.3095 h166bdaf_2 conda-forge
x265 3.5 h924138e_3 conda-forge
xcb-util 0.4.1 hb711507_2 conda-forge
xcb-util-cursor 0.1.5 hb9d3cd8_0 conda-forge
xcb-util-image 0.4.0 hb711507_2 conda-forge
xcb-util-keysyms 0.4.1 hb711507_0 conda-forge
xcb-util-renderutil 0.3.10 hb711507_0 conda-forge
xcb-util-wm 0.4.2 hb711507_0 conda-forge
xkeyboard-config 2.43 hb9d3cd8_0 conda-forge
xmltodict 0.14.2 pyhd8ed1ab_0 conda-forge
xorg-glproto 1.4.17 hb9d3cd8_1003 conda-forge
xorg-libice 1.1.1 hb9d3cd8_1 conda-forge
xorg-libsm 1.2.4 he73a12e_1 conda-forge
xorg-libx11 1.8.10 h4f16b4b_0 conda-forge
xorg-libxau 1.0.11 hb9d3cd8_1 conda-forge
xorg-libxdamage 1.1.6 hb9d3cd8_0 conda-forge
xorg-libxdmcp 1.1.5 hb9d3cd8_0 conda-forge
xorg-libxext 1.3.6 hb9d3cd8_0 conda-forge
xorg-libxfixes 6.0.1 hb9d3cd8_0 conda-forge
xorg-libxi 1.8.2 hb9d3cd8_0 conda-forge
xorg-libxinerama 1.1.5 h5888daf_1 conda-forge
xorg-libxrandr 1.5.4 hb9d3cd8_0 conda-forge
xorg-libxrender 0.9.11 hb9d3cd8_1 conda-forge
xorg-libxt 1.3.0 hb9d3cd8_2 conda-forge
xorg-libxtst 1.2.5 hb9d3cd8_3 conda-forge
xorg-libxxf86vm 1.1.5 hb9d3cd8_4 conda-forge
xorg-xextproto 7.3.0 hb9d3cd8_1004 conda-forge
xorg-xf86vidmodeproto 2.3.1 hb9d3cd8_1004 conda-forge
xorg-xorgproto 2024.1 hb9d3cd8_1 conda-forge
xz 5.2.6 h166bdaf_0 conda-forge
yaml 0.2.5 h7f98852_2 conda-forge
yarl 1.15.5 py310ha75aee5_0 conda-forge
ycm-cmake-modules 0.16.9 h5888daf_0 conda-forge
zeromq 4.3.5 h3b0a872_6 conda-forge
zipp 3.20.2 pyhd8ed1ab_0 conda-forge
zlib 1.3.1 hb9d3cd8_2 conda-forge
zstandard 0.23.0 py310ha39cb0e_1 conda-forge
zstd 1.5.6 ha6fb4c9_0 conda-forge
I tried to run the https://github.com/ami-iit/comodo/blob/main/examples/drake_walking.ipynb example notebook from the
mainbranch, and I'm getting the following error:In order to make the notebook run I had to add this statement, after the
s_des, xyz_rpy, H_b = robot_model_init.compute_desired_position_walking():System info
I'm using
bipedal-locomotion-framework==0.19.0anddrake==1.34.0Conda list