PyChrono and GymChrono Build Questions

[Prakhar Gupta]

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.

[Radu Serban]

Prakhar,

 

First of all, you are using a non-official fork of Chrono.  If you want/need, for whatever reasons, use that particular code, you will need to talk to the owner of that fork (in this case, Json).

Here, we can only provide support for the official Chrono distribution.

 

Having said that, the error message you get gives a pretty clear hint.  You did not set the CMake NUMPY_INCLUDE_DIR variable quite right: you should not have the final “/numpy” in the path you provide.

 

--Radu

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[JASON Z]

Prakhar,

As Radu suggested above, the error is with the numpy include directory setting in cmake.

You are welcomed to follow up and open new issues under the gymchrono repo. As the linked code is Json's fork and gymchrono is still under development, the github repo might be a better place for us to help you.

Thanks,

Json

[HUZAIFA MUSTAFA UNJHAWALA]

Just to add,

Fixing the Numpy include path will probably work, but if you don't want to build gym-chrono yourself from source and want to get up and running quickly, you could also set-up a docker container using instructions from here - https://github.com/projectchrono/gym-chrono/tree/master/docker.

Best

Huzaifa