Go2 branch (#3)
* delete go1_gym_deploy folder * delete .edd-info folder and add .gitignore * delete asset folder and modify readme * delete useless pretrained model * ignore pretrain-go2 * delete useless log file * delete pycache folder * rename go1_gym and go1_gym_learn * change go1 to go2 without verification * Build Go2 Config and Env with verifications
This commit is contained in:
Liao Dengting
GitHub
parent
d31ed0c6d8
commit
3a820ae21f
|
|
@ -1,15 +1,19 @@
|
|||
# 忽略VScode配置文件
|
||||
/.vscode/
|
||||
.vscode/
|
||||
|
||||
# 忽略临时文件
|
||||
# 这意味着任何文件名以 temp 开头的文件都不会被添加到Git的版本控制中，从而避免了将这些临时文件提交到代码仓库中。
|
||||
# temp*
|
||||
|
||||
tmp/
|
||||
# 忽略所有 .pyc 文件
|
||||
*.pyc
|
||||
*.egg-info/
|
||||
__pycache__/
|
||||
|
||||
# 忽略所有 .DS_Store 文件（macOS系统生成的文件）
|
||||
.DS_Store
|
||||
|
||||
# 忽略不可参考的训练数据
|
||||
/runs/gait-conditioned-agility/2024*/
|
||||
/runs/gait-conditioned-agility/2024*/
|
||||
/runs/gait-conditioned-agility/pretrain-go2/
|
||||
|
||||
|
|
|
|||
24
README.md
24
README.md
|
|
@ -26,13 +26,14 @@ Start training:
|
|||
python scripts/train.py
|
||||
```
|
||||
|
||||
For convenience, [urdf file path](go1_gym/envs/go1/go1_config.py) is directly swtitched from `go1.urdf` to [`go2.urdf`](https://support.unitree.com/home/zh/developer/rl_example).
|
||||
`go2_gym` and `go2_gym_learn` folders are the main folders for training process.
|
||||
|
||||
Play the model:
|
||||
```bash
|
||||
python scripts/play.py
|
||||
cd scripts
|
||||
python play.py
|
||||
```
|
||||
|
||||
|
||||
|
||||
Go2 pretrained model is provided in [./runs](runs/gait-conditioned-agility/pretrain-go2), you can choose whether to use provide pretrained model by modifying the label line `label = "gait-conditioned-agility/pretrain-go2/train"` to your own trained model.
|
||||
|
||||
|
|
@ -49,7 +50,7 @@ Trained policy is only supported to be deployed through your PC or laptop now, b
|
|||
#### Install LCM
|
||||
Since [walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) implement an interface based on Lightweight Communications and Marshalling ([LCM](https://github.com/lcm-proj/lcm)) to pass sensor data, motor commands, and joystick state between their code and the low-level control SDK provided by Unitree, LCM should be installed firstly in your PC or laptlop.
|
||||
|
||||
Clone LCM repository to the path you usually place installed softwares, then install LCM:
|
||||
Clone LCM repository to any location (where you usually place installed softwares), then install LCM:
|
||||
```bash
|
||||
git clone https://github.com/lcm-proj/lcm.git
|
||||
mkdir build
|
||||
|
|
@ -59,7 +60,7 @@ make
|
|||
sudo make install
|
||||
```
|
||||
|
||||
#### Build unitree_sdk2
|
||||
#### Unitree_SDK2
|
||||
unitree_sdk2 has been inclued in `go2_gym_deploy/unitree_sdk2_bin/library/unitree_sdk2`, you can also clone from [Unitree Robotics](https://github.com/unitreerobotics/unitree_sdk2) to make sure the sdk is updated version.
|
||||
|
||||
```bash
|
||||
|
|
@ -91,7 +92,7 @@ cmake ..
|
|||
make -j
|
||||
```
|
||||
|
||||
All LCM messages in `go2_gym_deploy/lcm_types` are set as the same format shown in [walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) to ensure successful connection with python files.
|
||||
All LCM messages files in `go2_gym_deploy/lcm_types` are set as the same format shown in [walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) to ensure successful connection with python files. LCM message files are provided in this project, and you can also generate customized LCM message files through the following instructions:
|
||||
|
||||
`xxx_lcmt.hpp` files are generated by:
|
||||
```bash
|
||||
|
|
@ -138,15 +139,18 @@ According to the hints shown in terminal, Press [R2] to start the controller. Yo
|
|||
* Press [L2+B] if any unexpected situation occurs!!!
|
||||
* This is research code; use at your own risk; we do not take responsibility for any damage.
|
||||
|
||||
Test Video on Unitree Go2: https://www.bilibili.com/video/BV1tQ4y1c7ZG/?spm_id_from=333.999.0.0&vd_source=07873ebe2a113dac57775e264a210929
|
||||
Test Video on Unitree Go2:
|
||||
- Test in my bedroom: https://www.bilibili.com/video/BV1tQ4y1c7ZG/?spm_id_from=333.999.0.0&vd_source=07873ebe2a113dac57775e264a210929
|
||||
- Test by other contributors: https://www.bilibili.com/video/BV1Ut421H7Fr/?spm_id_from=333.1007.top_right_bar_window_history.content.click&vd_source=07873ebe2a113dac57775e264a210929
|
||||
|
||||
|
||||
**Please star this repository if it does help you! Thanks!**
|
||||
**Please star this repository if it does help you! Many Thanks!**
|
||||
|
||||
## Acknowledgements
|
||||
* Many thanks to [Leolar](https://github.com/NihaoyaLeolar), who provide Nvidia 3060ti and supporting.
|
||||
* Many thanks to [Jony](https://github.com/jonyzhang2023) for his support and encourage me to learn basic kownledge about RL.
|
||||
* Many thanks to [Jony](https://github.com/jonyzhang2023) and Peter for their support and encourage me to learn basic kownledge about RL.
|
||||
* Many thanks to [Simonforyou](https://github.com/Simonforyou), who provide Go2 pretrained model.
|
||||
|
||||
## TO DO
|
||||
* Deploy on Jeston Orin Nano
|
||||
- [x] Do not inherit config and env from go1_gym, build customized config and env files for Go2
|
||||
- [ ] Deploy on Jeston Orin Nano
|
||||
|
|
|
|||
274
README_Go1.md
274
README_Go1.md
|
|
@ -1,274 +0,0 @@
|
|||
# Go1 Sim-to-Real Locomotion Starter Kit
|
||||
|
||||
# Table of contents
|
||||
- [Go1 Sim-to-Real Locomotion Starter Kit](#go1-sim-to-real-locomotion-starter-kit)
|
||||
- [Table of contents](#table-of-contents)
|
||||
- [Overview ](#overview-)
|
||||
- [System Requirements ](#system-requirements-)
|
||||
- [Training a Model ](#training-a-model-)
|
||||
- [Installation ](#installation-)
|
||||
- [Install pytorch 1.10 with cuda-11.3:](#install-pytorch-110-with-cuda-113)
|
||||
- [Install Isaac Gym](#install-isaac-gym)
|
||||
- [Install the `go1_gym` package](#install-the-go1_gym-package)
|
||||
- [Verifying the Installation](#verifying-the-installation)
|
||||
- [Environment and Model Configuration ](#environment-and-model-configuration-)
|
||||
- [Training and Logging ](#training-and-logging-)
|
||||
- [Analyzing the Policy ](#analyzing-the-policy-)
|
||||
- [Deploying a Model ](#deploying-a-model--)
|
||||
- [Safety Recommendations ](#safety-recommendations--)
|
||||
- [Installing the Deployment Utility ](#installing-the-deployment-utility--)
|
||||
- [Running the Controller ](#running-the-controller--)
|
||||
- [The RC Mapping ](#the-rc-mapping--)
|
||||
- [Deploying a Custom Model ](#deploying-a-custom-model--)
|
||||
- [Logging and Debugging ](#logging-and-debugging-)
|
||||
- [Analyzing Real-world Performance ](#analyzing-real-world-performance-)
|
||||
- [Debugging Common Errors ](#debugging-common-errors--)
|
||||
|
||||
## Overview <a name="overview"></a>
|
||||
|
||||
This repository provides an implementation of the paper:
|
||||
|
||||
|
||||
<td style="padding:20px;width:75%;vertical-align:middle">
|
||||
<a href="https://gmargo11.github.io/walk-these-ways/" target="_blank">
|
||||
<b> Walk these Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior </b>
|
||||
</a>
|
||||
<br>
|
||||
<a href="https://gmargo11.github.io/" target="_blank">Gabriel B. Margolis</a> and <a href="https://people.csail.mit.edu/pulkitag" target="_blank">Pulkit Agrawal</a>
|
||||
<br>
|
||||
<em>Conference on Robot Learning</em>, 2022
|
||||
<br>
|
||||
<a href="https://openreview.net/pdf?id=52c5e73SlS2">paper</a> /
|
||||
<a href="https://gmargo11.github.io/walk-these-ways/" target="_blank">project page</a>
|
||||
<br>
|
||||
</td>
|
||||
|
||||
<br>
|
||||
|
||||
If you use this repository in your work, consider citing:
|
||||
|
||||
```
|
||||
@article{margolis2022walktheseways,
|
||||
title={Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior},
|
||||
author={Margolis, Gabriel B and Agrawal, Pulkit},
|
||||
journal={Conference on Robot Learning},
|
||||
year={2022}
|
||||
}
|
||||
```
|
||||
|
||||
<br>
|
||||
|
||||
This environment builds on the [legged gym environment](https://leggedrobotics.github.io/legged_gym/) by Nikita
|
||||
Rudin, Robotic Systems Lab, ETH Zurich (Paper: https://arxiv.org/abs/2109.11978) and the Isaac Gym simulator from
|
||||
NVIDIA (Paper: https://arxiv.org/abs/2108.10470). Training code builds on the
|
||||
[rsl_rl](https://github.com/leggedrobotics/rsl_rl) repository, also by Nikita
|
||||
Rudin, Robotic Systems Lab, ETH Zurich. All redistributed code retains its
|
||||
original [license](LICENSES/legged_gym/LICENSE).
|
||||
|
||||
Our initial release provides the following features:
|
||||
* Train reinforcement learning policies for the Go1 robot using PPO, IsaacGym, Domain Randomization, and Multiplicity of Behavior (MoB).
|
||||
* Evaluate a pretrained MoB policy in simulation.
|
||||
* Deploy learned policies on the Go1 using the `unitree_legged_sdk`.
|
||||
|
||||
## System Requirements <a name="requirements"></a>
|
||||
|
||||
**Simulated Training and Evaluation**: Isaac Gym requires an NVIDIA GPU. To train in the default configuration, we recommend a GPU with at least 10GB of VRAM. The code can run on a smaller GPU if you decrease the number of parallel environments (`Cfg.env.num_envs`). However, training will be slower with fewer environments.
|
||||
|
||||
**Hardware Deployment**: We provide deployment code for the Unitree Go1 Edu robot. This relatively low-cost, commercially available quadruped can be purchased here: https://shop.unitree.com/. You will need the Edu version of the robot to run and customize your locomotion controller.
|
||||
|
||||
## Training a Model <a name="simulation"></a>
|
||||
|
||||
### Installation <a name="installation"></a>
|
||||
|
||||
#### Install pytorch 1.10 with cuda-11.3:
|
||||
|
||||
```bash
|
||||
pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html
|
||||
```
|
||||
|
||||
#### Install Isaac Gym
|
||||
|
||||
1. Download and install Isaac Gym Preview 4 from https://developer.nvidia.com/isaac-gym
|
||||
2. unzip the file via:
|
||||
```bash
|
||||
tar -xf IsaacGym_Preview_4_Package.tar.gz
|
||||
```
|
||||
|
||||
3. now install the python package
|
||||
```bash
|
||||
cd isaacgym/python && pip install -e .
|
||||
```
|
||||
4. Verify the installation by try running an example
|
||||
|
||||
```bash
|
||||
python examples/1080_balls_of_solitude.py
|
||||
```
|
||||
5. For troubleshooting check docs `isaacgym/docs/index.html`
|
||||
|
||||
#### Install the `go1_gym` package
|
||||
|
||||
In this repository, run `pip install -e .`
|
||||
|
||||
### Verifying the Installation
|
||||
|
||||
If everything is installed correctly, you should be able to run the test script with:
|
||||
|
||||
```bash
|
||||
python scripts/test.py
|
||||
```
|
||||
|
||||
The script should print `Simulating step {i}`.
|
||||
The GUI is off by default. To turn it on, set `headless=False` in `test.py`'s main function call.
|
||||
|
||||
### Environment and Model Configuration <a name="configuration"></a>
|
||||
|
||||
|
||||
**CODE STRUCTURE** The main environment for simulating a legged robot is
|
||||
in [legged_robot.py](go1_gym/envs/base/legged_robot.py). The default configuration parameters including reward
|
||||
weightings are defined in [legged_robot_config.py::Cfg](go1_gym/envs/base/legged_robot_config.py).
|
||||
|
||||
There are three scripts in the [scripts](scripts/) directory:
|
||||
|
||||
```bash
|
||||
scripts
|
||||
├── __init__.py
|
||||
├── play.py
|
||||
├── test.py
|
||||
└── train.py
|
||||
```
|
||||
|
||||
You can run the `test.py` script to verify your environment setup. If it runs then you have installed the gym
|
||||
environments correctly. To train an agent, run `train.py`. To evaluate a pretrained agent, run `play.py`. We provie a
|
||||
pretrained agent checkpoint in the [./runs/pretrain-v0](runs/gait-conditioned-agility/pretrain-v0) directory.
|
||||
|
||||
|
||||
|
||||
### Training and Logging <a name="training"></a>
|
||||
|
||||
To train the Go1 controller from [Walk these Ways](https://sites.google.com/view/gait-conditioned-rl/), run:
|
||||
|
||||
```bash
|
||||
python scripts/train.py
|
||||
```
|
||||
|
||||
After initializing the simulator, the script will print out a list of metrics every ten training iterations.
|
||||
|
||||
Training with the default configuration requires about 12GB of GPU memory. If you have less memory available, you can
|
||||
still train by reducing the number of parallel environments used in simulation (the default is `Cfg.env.num_envs = 4000`).
|
||||
|
||||
To visualize training progress, first start the ml_dash frontend app:
|
||||
```bash
|
||||
python -m ml_dash.app
|
||||
```
|
||||
then start the ml_dash backend server by running this command in the parent directory of the `runs` folder:
|
||||
```bash
|
||||
python -m ml_dash.server .
|
||||
```
|
||||
|
||||
Finally, use a web browser to go to the app IP (defaults to `localhost:3001`)
|
||||
and create a new profile with the credentials:
|
||||
|
||||
Username: `runs`
|
||||
API: [server IP] (defaults to `localhost:8081`)
|
||||
Access Token: [blank]
|
||||
|
||||
Now, clicking on the profile should yield a dashboard interface visualizing the training runs.
|
||||
|
||||
### Analyzing the Policy <a name="analysis"></a>
|
||||
|
||||
To evaluate the most recently trained model, run:
|
||||
|
||||
```bash
|
||||
python scripts/play.py
|
||||
```
|
||||
|
||||
The robot is commanded to run forward at 3m/s for 5 seconds. After completing the simulation,
|
||||
the script plots the robot's velocity and joint angles.
|
||||
|
||||
The GUI is on by default.
|
||||
If it does not appear, and you're working in docker, make sure you haven't forgotten to run `bash docker/visualize_access.bash`.
|
||||
|
||||
|
||||
|
||||
## Deploying a Model <a name="realworld"></a>
|
||||
|
||||
### Safety Recommendations <a name="robotconfig"></a>
|
||||
|
||||
<i><b>Users are advised to follow Unitree's recommendations for safety while using the Go1 in low-level control mode.</b></i>
|
||||
- This means hanging up the robot and keeping it away from people and obstacles.
|
||||
- In practice, the main safety consideration we've found important has been not plug anything into the robot's back (ethernet cable, USB) during the initial calibration or when testing a new policy because it can hurt the robot in case of a fall.
|
||||
- Our code implements the safety layer from Unitree's `unitree_legged_sdk` with PowerProtect level 9. This will cut off power to the motors if the joint torque is too high (could happen sometimes during fast running)
|
||||
- <b>This is research code; use at your own risk; we do not take responsibility for any damage.</b>
|
||||
|
||||
|
||||
### Installing the Deployment Utility <a name="robotconfig"></a>
|
||||
|
||||
The first step is to connect your development machine to the robot using ethernet. You should ping the robot to verify the connection: `ping 192.168.123.15` should return `x packets transmitted, x received, 0% packet loss`.
|
||||
|
||||
Once you have confirmed the robot is connected, run the following command on your computer to transfer files to the robot. The first time you run it, the script will download and transfer the zipped docker image for development on the robot (`deployment_image.tar`). This file is quite large (3.5GB), but it only needs to be downloaded and transferred once.
|
||||
|
||||
```
|
||||
cd go1_gym_deploy/scripts && ./send_to_unitree.sh
|
||||
```
|
||||
|
||||
Next, you will log onto the robot's onboard computer and install the docker environment. To enter the onboard computer, the command is:
|
||||
|
||||
```
|
||||
ssh unitree@192.168.123.15
|
||||
```
|
||||
|
||||
Now, run the following commands on the robot's onboard computer:
|
||||
|
||||
```
|
||||
chmod +x installer/install_deployment_code.sh
|
||||
cd ~/go1_gym/go1_gym_deploy/scripts
|
||||
sudo ../installer/install_deployment_code.sh
|
||||
```
|
||||
|
||||
The installer will automatically unzip and install the docker image containing the deployment environment.
|
||||
|
||||
|
||||
### Running the Controller <a name="runcontroller"></a>
|
||||
|
||||
Place the robot into damping mode. The control sequence is: [L2+A], [L2+B], [L1+L2+START]. After this, the robot should sit on the ground and the joints should move freely.
|
||||
|
||||
Now, ssh to `unitree@192.168.123.15` and run the following two commands to start the controller. <b>This will operate the robot in low-level control mode. Make sure your Go1 is hung up.</b>
|
||||
|
||||
First:
|
||||
```
|
||||
cd ~/go1_gym/go1_gym_deploy/autostart
|
||||
./start_unitree_sdk.sh
|
||||
```
|
||||
|
||||
Second:
|
||||
```
|
||||
cd ~/go1_gym/go1_gym_deploy/docker
|
||||
sudo make autostart
|
||||
```
|
||||
|
||||
The robot will wait for you to press [R2], then calibrate, then wait for a second press of [R2] before running the control loop.
|
||||
|
||||
### The RC Mapping <a name="rcconfig"></a>
|
||||
|
||||
The RC mapping is depicted above.
|
||||
### Deploying a Custom Model <a name="configuration"></a>
|
||||
|
||||
After training a custom model, it will be saved in the `runs` folder (https://github.com/Improbable-AI/walk-these-ways/tree/master/runs/). Note the relative location of your custom model of the `train` folder (for the default policy), it's `gait-conditioned-agility/pretrain-v0/train`. We'll denote this as `$PDIR`.
|
||||
|
||||
To play the custom model in simulation first, replace the line https://github.com/Improbable-AI/walk-these-ways/blob/master/scripts/play.py#L97 with `label = "$PDIR"`.
|
||||
|
||||
To deploy on the robot, replace the line https://github.com/Improbable-AI/walk-these-ways/blob/master/go1_gym_deploy/scripts/deploy_policy.py#L73 with `label = "$PDIR"`. Then re-run the `send_to_unitree.sh` script to update the files on the robot.
|
||||
|
||||
### Logging and Debugging <a name="deployment"></a>
|
||||
<i>Coming soon</i>
|
||||
### Analyzing Real-world Performance <a name="plotting"></a>
|
||||
<i>Coming soon</i>
|
||||
|
||||
|
||||
## Debugging Common Errors <a name="rcconfig"></a>
|
||||
|
||||
| Bug | Solution | First report |
|
||||
| ----------- | ----------- | ---------- |
|
||||
| Out of disk space | If you run out of disk space during `cd ~/go1_gym/go1_gym_deploy/installer && ./install_deployment_code.sh` consider changing the script to use `192.168.123.13` instead (at least in my Go1 Edu with 3 Jetson nano, I only had the required disk space to copy the tar and extract the image in only `192.168.123.13`). Alternatively, consider deploying on an external PC. | https://github.com/Improbable-AI/walk-these-ways/issues/7 |
|
||||
| `lcm_position` syntax error | When deploying with `sudo ./start_unitree_sdk.sh` on an external PC/NUC, if you get the following error: `./lcm_position: 1: Syntax error: word unexpected (expecting ")")`, It is likely because the ./lcm_position has been compiled for ARM aarch64 (to run on the jetson), please recompile it for your architecture(external PC/ NUC) using https://github.com/Improbable-AI/unitree_legged_sdk. | https://github.com/Improbable-AI/walk-these-ways/issues/7 |
|
||||
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
Metadata-Version: 2.1
|
||||
Name: go1-gym
|
||||
Version: 1.0.0
|
||||
Summary: Toolkit for deployment of sim-to-real RL on the Unitree Go1.
|
||||
Home-page: UNKNOWN
|
||||
Author: Gabriel Margolis
|
||||
Author-email: gmargo@mit.edu
|
||||
License: BSD-3-Clause
|
||||
Platform: UNKNOWN
|
||||
License-File: LICENSE
|
||||
|
||||
UNKNOWN
|
||||
|
||||
|
|
@ -1,89 +0,0 @@
|
|||
LICENSE
|
||||
README.md
|
||||
setup.py
|
||||
go1_gym/__init__.py
|
||||
go1_gym.egg-info/PKG-INFO
|
||||
go1_gym.egg-info/SOURCES.txt
|
||||
go1_gym.egg-info/dependency_links.txt
|
||||
go1_gym.egg-info/requires.txt
|
||||
go1_gym.egg-info/top_level.txt
|
||||
go1_gym/envs/__init__.py
|
||||
go1_gym/envs/base/__init__.py
|
||||
go1_gym/envs/base/base_task.py
|
||||
go1_gym/envs/base/curriculum.py
|
||||
go1_gym/envs/base/legged_robot.py
|
||||
go1_gym/envs/base/legged_robot_config.py
|
||||
go1_gym/envs/go1/__init__.py
|
||||
go1_gym/envs/go1/go1_config.py
|
||||
go1_gym/envs/go1/velocity_tracking/__init__.py
|
||||
go1_gym/utils/__init__.py
|
||||
go1_gym/utils/math_utils.py
|
||||
go1_gym/utils/terrain.py
|
||||
go1_gym_deploy/__init__.py
|
||||
go1_gym_deploy/setup.py
|
||||
go1_gym_deploy/envs/__init__.py
|
||||
go1_gym_deploy/envs/history_wrapper.py
|
||||
go1_gym_deploy/envs/lcm_agent.py
|
||||
go1_gym_deploy/lcm_types/__init__.py
|
||||
go1_gym_deploy/lcm_types/camera_message_lcmt.py
|
||||
go1_gym_deploy/lcm_types/camera_message_rect_wide.py
|
||||
go1_gym_deploy/lcm_types/leg_control_data_lcmt.py
|
||||
go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.py
|
||||
go1_gym_deploy/lcm_types/rc_command_lcmt.py
|
||||
go1_gym_deploy/lcm_types/state_estimator_lcmt.py
|
||||
go1_gym_deploy/scripts/__init__.py
|
||||
go1_gym_deploy/scripts/deploy_policy.py
|
||||
go1_gym_deploy/tests/__init__.py
|
||||
go1_gym_deploy/tests/check_camera_msgs.py
|
||||
go1_gym_deploy/unitree_legged_sdk_bin/__init__.py
|
||||
go1_gym_deploy/utils/__init__.py
|
||||
go1_gym_deploy/utils/cheetah_state_estimator.py
|
||||
go1_gym_deploy/utils/command_profile.py
|
||||
go1_gym_deploy/utils/deployment_runner.py
|
||||
go1_gym_deploy/utils/logger.py
|
||||
go1_gym_deploy/utils/network_config_unitree.py
|
||||
go1_gym_learn/__init__.py
|
||||
go1_gym_learn/env/__init__.py
|
||||
go1_gym_learn/env/vec_env.py
|
||||
go1_gym_learn/eval_metrics/__init__.py
|
||||
go1_gym_learn/eval_metrics/domain_randomization.py
|
||||
go1_gym_learn/eval_metrics/metrics.py
|
||||
go1_gym_learn/ppo/__init__.py
|
||||
go1_gym_learn/ppo/actor_critic.py
|
||||
go1_gym_learn/ppo/metrics_caches.py
|
||||
go1_gym_learn/ppo/ppo.py
|
||||
go1_gym_learn/ppo/rollout_storage.py
|
||||
go1_gym_learn/ppo_cse/__init__.py
|
||||
go1_gym_learn/ppo_cse/actor_critic.py
|
||||
go1_gym_learn/ppo_cse/metrics_caches.py
|
||||
go1_gym_learn/ppo_cse/ppo.py
|
||||
go1_gym_learn/ppo_cse/rollout_storage.py
|
||||
go1_gym_learn/utils/__init__.py
|
||||
go1_gym_learn/utils/utils.py
|
||||
go2_gym_deploy/__init__.py
|
||||
go2_gym_deploy/setup.py
|
||||
go2_gym_deploy/envs/__init__.py
|
||||
go2_gym_deploy/envs/history_wrapper.py
|
||||
go2_gym_deploy/envs/lcm_agent.py
|
||||
go2_gym_deploy/lcm_types/__init__.py
|
||||
go2_gym_deploy/lcm_types/camera_message_lcmt.py
|
||||
go2_gym_deploy/lcm_types/camera_message_rect_wide.py
|
||||
go2_gym_deploy/lcm_types/leg_control_data_lcmt.py
|
||||
go2_gym_deploy/lcm_types/pd_tau_targets_lcmt.py
|
||||
go2_gym_deploy/lcm_types/rc_command_lcmt.py
|
||||
go2_gym_deploy/lcm_types/state_estimator_lcmt.py
|
||||
go2_gym_deploy/scripts/__init__.py
|
||||
go2_gym_deploy/scripts/deploy_policy.py
|
||||
go2_gym_deploy/utils/__init__.py
|
||||
go2_gym_deploy/utils/cheetah_state_estimator.py
|
||||
go2_gym_deploy/utils/command_profile.py
|
||||
go2_gym_deploy/utils/deployment_runner.py
|
||||
go2_gym_deploy/utils/logger.py
|
||||
scripts/__init__.py
|
||||
scripts/play.py
|
||||
scripts/test.py
|
||||
scripts/train.py
|
||||
scripts/actuator_net/__init__.py
|
||||
scripts/actuator_net/eval.py
|
||||
scripts/actuator_net/train.py
|
||||
scripts/actuator_net/utils.py
|
||||
|
|
@ -1 +0,0 @@
|
|||
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
ml_logger==0.8.117
|
||||
ml_dash==0.3.20
|
||||
jaynes>=0.9.2
|
||||
params-proto==2.10.5
|
||||
gym>=0.14.0
|
||||
tqdm
|
||||
matplotlib
|
||||
numpy==1.23.5
|
||||
|
|
@ -1,5 +0,0 @@
|
|||
go1_gym
|
||||
go1_gym_deploy
|
||||
go1_gym_learn
|
||||
go2_gym_deploy
|
||||
scripts
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -1,5 +0,0 @@
|
|||
#!/bin/bash
|
||||
sudo docker stop foxy_controller || true
|
||||
sudo docker rm foxy_controller || true
|
||||
cd ~/go1_gym/go1_gym_deploy/docker/
|
||||
sudo make autostart
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/bash
|
||||
sudo docker stop foxy_controller || true
|
||||
sudo docker rm foxy_controller || true
|
||||
sudo kill $(ps aux |grep lcm_position | awk '{print $2}')
|
||||
cd ~/go1_gym/go1_gym_deploy/unitree_legged_sdk_bin/
|
||||
yes "" | sudo ./lcm_position &
|
||||
|
|
@ -1,190 +0,0 @@
|
|||
# syntax=docker/dockerfile:experimental
|
||||
|
||||
FROM nvcr.io/nvidia/l4t-pytorch:r32.6.1-pth1.9-py3
|
||||
|
||||
#ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
|
||||
#ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
|
||||
|
||||
# add new sudo user
|
||||
ENV USERNAME improbable
|
||||
ENV HOME /home/$USERNAME
|
||||
RUN useradd -m $USERNAME && \
|
||||
echo "$USERNAME:$USERNAME" | chpasswd && \
|
||||
usermod --shell /bin/bash $USERNAME && \
|
||||
usermod -aG sudo $USERNAME && \
|
||||
mkdir /etc/sudoers.d && \
|
||||
echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
|
||||
chmod 0440 /etc/sudoers.d/$USERNAME && \
|
||||
# Replace 1000 with your user/group id
|
||||
usermod --uid 1000 $USERNAME && \
|
||||
groupmod --gid 1000 $USERNAME
|
||||
|
||||
|
||||
# install package
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
build-essential \
|
||||
curl \
|
||||
sudo \
|
||||
less \
|
||||
emacs \
|
||||
apt-utils \
|
||||
tzdata \
|
||||
git \
|
||||
tmux \
|
||||
bash-completion \
|
||||
command-not-found \
|
||||
libglib2.0-0 \
|
||||
gstreamer1.0-plugins-* \
|
||||
libgstreamer1.0-* \
|
||||
libgstreamer-plugins-*1.0-* \
|
||||
&& \
|
||||
apt-get clean && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
|
||||
|
||||
#COPY config/nvidia_icd.json /usr/share/vulkan/icd.d/
|
||||
|
||||
|
||||
USER root
|
||||
|
||||
|
||||
#RUN apt-get update && apt-get install -y python3-pip && pip3 install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html
|
||||
|
||||
|
||||
# ==================================================================
|
||||
# Useful Libraries for Development
|
||||
# ------------------------------------------------------------------
|
||||
#RUN apt update && apt install -y apt-transport-https ca-certificates curl software-properties-common
|
||||
#RUN curl -fsSL https://download.sublimetext.com/sublimehq-pub.gpg | apt-key add - && add-apt-repository "deb https://download.sublimetext.com/ apt/stable/" && apt update && apt install sublime-text
|
||||
|
||||
|
||||
# ==================================================================
|
||||
# Python dependencies defined in requirements.txt
|
||||
# ------------------------------------------------------------------
|
||||
#RUN pip3 install --upgrade pip
|
||||
# copy local requirements file for pip install python deps
|
||||
#COPY ./requirements.txt /home/$USERNAME
|
||||
#WORKDIR /home/$USERNAME
|
||||
#RUN pip3 install -r requirements.txt
|
||||
|
||||
# LCM
|
||||
RUN apt-get -y update && apt-get install -y make gcc-8 g++-8
|
||||
RUN cd /home/$USERNAME && git clone https://github.com/lcm-proj/lcm.git && cd lcm && mkdir build && cd build && cmake .. && make -j && make install
|
||||
RUN cd /home/$USERNAME/lcm/lcm-python && pip3 install -e .
|
||||
|
||||
|
||||
RUN apt-get install -y vim
|
||||
#RUN pip3 install pandas
|
||||
|
||||
# ROS
|
||||
# ENV ROS_DISTRO melodic
|
||||
|
||||
RUN apt-get install -y gnupg
|
||||
|
||||
# COPY install_scripts/install_ros.sh /tmp/install_ros.sh
|
||||
# RUN chmod +x /tmp/install_ros.sh
|
||||
# RUN /tmp/install_ros.sh
|
||||
|
||||
# # bootstrap rosdep
|
||||
# RUN rosdep init \
|
||||
# && rosdep update
|
||||
|
||||
# # create catkin workspace
|
||||
# ENV CATKIN_WS=/root/catkin_ws
|
||||
# RUN bash /opt/ros/melodic/setup.bash
|
||||
# RUN mkdir -p $CATKIN_WS/src
|
||||
# WORKDIR ${CATKIN_WS}
|
||||
# RUN catkin init
|
||||
# RUN catkin config --extend /opt/ros/$ROS_DISTRO \
|
||||
# --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
|
||||
# WORKDIR $CATKIN_WS/src
|
||||
|
||||
|
||||
RUN apt-get update && apt-get install -y freeglut3-dev libudev-dev
|
||||
#COPY ./install_scripts/install_vision_opencv.sh /tmp/install_vision_opencv.sh
|
||||
#RUN chmod +x /tmp/install_vision_opencv.sh
|
||||
#RUN /tmp/install_vision_opencv.sh
|
||||
|
||||
|
||||
RUN apt-get install -y libgl1-mesa-dev libudev1 libudev-dev
|
||||
|
||||
|
||||
#RUN apt-get install unzip
|
||||
#
|
||||
#RUN cd ~ && \
|
||||
# wget -O opencv.zip https://github.com/opencv/opencv/archive/4.5.1.zip && \
|
||||
# wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.5.1.zip && \
|
||||
# unzip opencv.zip && \
|
||||
# unzip opencv_contrib.zip && \
|
||||
# mv opencv-4.5.1 opencv && \
|
||||
# mv opencv_contrib-4.5.1 opencv_contrib && \
|
||||
# rm opencv.zip && \
|
||||
# rm opencv_contrib.zip
|
||||
#
|
||||
#RUN cd ~/opencv && \
|
||||
# mkdir build && \
|
||||
# cd build && \
|
||||
# cmake -D CMAKE_BUILD_TYPE=RELEASE \
|
||||
# -D CMAKE_INSTALL_PREFIX=/usr \
|
||||
# -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
|
||||
# -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
|
||||
# -D WITH_OPENCL=OFF \
|
||||
# -D WITH_CUDA=OFF \
|
||||
# -D CUDA_ARCH_BIN=5.3 \
|
||||
# -D CUDA_ARCH_PTX="" \
|
||||
# -D WITH_CUDNN=OFF \
|
||||
# -D WITH_CUBLAS=OFF \
|
||||
# -D ENABLE_FAST_MATH=ON \
|
||||
# -D CUDA_FAST_MATH=OFF \
|
||||
# -D OPENCV_DNN_CUDA=OFF \
|
||||
# -D ENABLE_NEON=ON \
|
||||
# -D WITH_QT=OFF \
|
||||
# -D WITH_OPENMP=ON \
|
||||
# -D WITH_OPENGL=ON \
|
||||
# -D BUILD_TIFF=ON \
|
||||
# -D WITH_FFMPEG=ON \
|
||||
# -D WITH_GSTREAMER=ON \
|
||||
# -D WITH_TBB=ON \
|
||||
# -D BUILD_TBB=ON \
|
||||
# -D BUILD_TESTS=OFF \
|
||||
# -D WITH_EIGEN=ON \
|
||||
# -D WITH_V4L=ON \
|
||||
# -D WITH_LIBV4L=ON \
|
||||
# -D OPENCV_ENABLE_NONFREE=ON \
|
||||
# -D INSTALL_C_EXAMPLES=OFF \
|
||||
# -D INSTALL_PYTHON_EXAMPLES=OFF \
|
||||
# -D BUILD_NEW_PYTHON_SUPPORT=ON \
|
||||
# -D BUILD_opencv_python3=TRUE \
|
||||
# -D OPENCV_GENERATE_PKGCONFIG=ON \
|
||||
# -D BUILD_EXAMPLES=OFF .. && \
|
||||
# make -j4 && cd ~ && \
|
||||
# # sudo rm -r /usr/include/opencv4/opencv2 && \
|
||||
# cd ~/opencv/build && \
|
||||
# sudo make install && \
|
||||
# sudo ldconfig && \
|
||||
# make clean && \
|
||||
# sudo apt-get update
|
||||
|
||||
RUN apt-get install -y libgtk2.0-dev pkg-config
|
||||
RUN pip3 install opencv-python opencv-contrib-python
|
||||
|
||||
####################################################################################
|
||||
###### START HERE -- Install whatever dependencies you need specific to this project!
|
||||
####################################################################################
|
||||
|
||||
|
||||
#COPY ./rsc/IsaacGym_Preview_2_Package.tar.gz /home/$USERNAME/
|
||||
#RUN cd /home/$USERNAME && tar -xvzf IsaacGym_Preview_2_Package.tar.gz
|
||||
#COPY ./rsc/learning_to_walk_in_minutes.zip /home/$USERNAME/
|
||||
#RUN apt-get install unzip && cd /home/$USERNAME/ && unzip learning_to_walk_in_minutes.zip && cd ./code/rl-pytorch && pip3 install -e .
|
||||
#RUN cd /home/$USERNAME/isaacgym/python && pip3 install -e .
|
||||
#RUN cd /home/$USERNAME/code/isaacgym_anymal && pip3 install -e .
|
||||
#COPY ./src/isaacgym_anymal/ /home/$USERNAME/code/isaacgym_anymal/
|
||||
|
||||
# setup entrypoint
|
||||
COPY entrypoint.sh /
|
||||
|
||||
ENTRYPOINT ["/entrypoint.sh"]
|
||||
CMD ["bash"]
|
||||
|
|
@ -1,39 +0,0 @@
|
|||
default: build
|
||||
build:
|
||||
docker build -t jetson-model-deployment .
|
||||
clean-build:
|
||||
docker build -t jetson-model-deployment . --no-cache=true
|
||||
run:
|
||||
docker stop foxy_controller || true
|
||||
docker rm foxy_controller || true
|
||||
docker run -it \
|
||||
--env="DISPLAY" \
|
||||
--env="QT_X11_NO_MITSHM=1" \
|
||||
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
|
||||
--env="XAUTHORITY=${XAUTH}" \
|
||||
--volume="${XAUTH}:${XAUTH}" \
|
||||
--volume="/home/unitree/go1_gym:/home/isaac/go1_gym" \
|
||||
--privileged \
|
||||
--runtime=nvidia \
|
||||
--net=host \
|
||||
--workdir="/home/isaac/go1_gym" \
|
||||
--name="foxy_controller" \
|
||||
jetson-model-deployment bash
|
||||
autostart:
|
||||
docker stop foxy_controller || true
|
||||
docker rm foxy_controller || true
|
||||
docker run -d\
|
||||
--env="DISPLAY" \
|
||||
--env="QT_X11_NO_MITSHM=1" \
|
||||
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
|
||||
--env="XAUTHORITY=${XAUTH}" \
|
||||
--volume="${XAUTH}:${XAUTH}" \
|
||||
--volume="/home/unitree/go1_gym:/home/isaac/go1_gym" \
|
||||
--privileged \
|
||||
--runtime=nvidia \
|
||||
--net=host \
|
||||
--workdir="/home/isaac/go1_gym" \
|
||||
--name="foxy_controller" \
|
||||
jetson-model-deployment tail -f /dev/null
|
||||
docker start foxy_controller
|
||||
docker exec foxy_controller bash -c 'cd /home/isaac/go1_gym/ && python3 setup.py install && cd go1_gym_deploy/scripts && ls && python3 deploy_policy.py'
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
#!/bin/bash
|
||||
docker load -i deployment_image.tar
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
#!/bin/bash
|
||||
docker save -o deployment_image.tar jetson-model-deployment:latest
|
||||
|
|
@ -1,51 +0,0 @@
|
|||
# import isaacgym
|
||||
|
||||
# assert isaacgym, "import isaacgym before pytorch"
|
||||
import torch
|
||||
|
||||
|
||||
class HistoryWrapper:
|
||||
def __init__(self, env):
|
||||
self.env = env
|
||||
|
||||
if isinstance(self.env.cfg, dict):
|
||||
self.obs_history_length = self.env.cfg["env"]["num_observation_history"]
|
||||
else:
|
||||
self.obs_history_length = self.env.cfg.env.num_observation_history
|
||||
self.num_obs_history = self.obs_history_length * self.env.num_obs
|
||||
self.obs_history = torch.zeros(self.env.num_envs, self.num_obs_history, dtype=torch.float,
|
||||
device=self.env.device, requires_grad=False)
|
||||
self.num_privileged_obs = self.env.num_privileged_obs
|
||||
|
||||
def step(self, action):
|
||||
obs, rew, done, info = self.env.step(action)
|
||||
privileged_obs = info["privileged_obs"]
|
||||
|
||||
self.obs_history = torch.cat((self.obs_history[:, self.env.num_obs:], obs), dim=-1)
|
||||
return {'obs': obs, 'privileged_obs': privileged_obs, 'obs_history': self.obs_history}, rew, done, info
|
||||
|
||||
def get_observations(self):
|
||||
obs = self.env.get_observations()
|
||||
privileged_obs = self.env.get_privileged_observations()
|
||||
self.obs_history = torch.cat((self.obs_history[:, self.env.num_obs:], obs), dim=-1)
|
||||
return {'obs': obs, 'privileged_obs': privileged_obs, 'obs_history': self.obs_history}
|
||||
|
||||
def get_obs(self):
|
||||
obs = self.env.get_obs()
|
||||
privileged_obs = self.env.get_privileged_observations()
|
||||
self.obs_history = torch.cat((self.obs_history[:, self.env.num_obs:], obs), dim=-1)
|
||||
return {'obs': obs, 'privileged_obs': privileged_obs, 'obs_history': self.obs_history}
|
||||
|
||||
def reset_idx(self, env_ids): # it might be a problem that this isn't getting called!!
|
||||
ret = self.env.reset_idx(env_ids)
|
||||
self.obs_history[env_ids, :] = 0
|
||||
return ret
|
||||
|
||||
def reset(self):
|
||||
ret = self.env.reset()
|
||||
privileged_obs = self.env.get_privileged_observations()
|
||||
self.obs_history[:, :] = 0
|
||||
return {"obs": ret, "privileged_obs": privileged_obs, "obs_history": self.obs_history}
|
||||
|
||||
def __getattr__(self, name):
|
||||
return getattr(self.env, name)
|
||||
|
|
@ -1,301 +0,0 @@
|
|||
import time
|
||||
|
||||
import lcm
|
||||
import numpy as np
|
||||
import torch
|
||||
import cv2
|
||||
|
||||
from go1_gym_deploy.lcm_types.pd_tau_targets_lcmt import pd_tau_targets_lcmt
|
||||
|
||||
lc = lcm.LCM("udpm://239.255.76.67:7667?ttl=255")
|
||||
|
||||
|
||||
def class_to_dict(obj) -> dict:
|
||||
if not hasattr(obj, "__dict__"):
|
||||
return obj
|
||||
result = {}
|
||||
for key in dir(obj):
|
||||
if key.startswith("_") or key == "terrain":
|
||||
continue
|
||||
element = []
|
||||
val = getattr(obj, key)
|
||||
if isinstance(val, list):
|
||||
for item in val:
|
||||
element.append(class_to_dict(item))
|
||||
else:
|
||||
element = class_to_dict(val)
|
||||
result[key] = element
|
||||
return result
|
||||
|
||||
|
||||
class LCMAgent():
|
||||
def __init__(self, cfg, se, command_profile):
|
||||
if not isinstance(cfg, dict):
|
||||
cfg = class_to_dict(cfg)
|
||||
self.cfg = cfg
|
||||
self.se = se
|
||||
self.command_profile = command_profile
|
||||
|
||||
self.dt = self.cfg["control"]["decimation"] * self.cfg["sim"]["dt"]
|
||||
self.timestep = 0
|
||||
|
||||
self.num_obs = self.cfg["env"]["num_observations"]
|
||||
self.num_envs = 1
|
||||
self.num_privileged_obs = self.cfg["env"]["num_privileged_obs"]
|
||||
self.num_actions = self.cfg["env"]["num_actions"]
|
||||
self.num_commands = self.cfg["commands"]["num_commands"]
|
||||
self.device = 'cpu'
|
||||
|
||||
if "obs_scales" in self.cfg.keys():
|
||||
self.obs_scales = self.cfg["obs_scales"]
|
||||
else:
|
||||
self.obs_scales = self.cfg["normalization"]["obs_scales"]
|
||||
|
||||
self.commands_scale = np.array(
|
||||
[self.obs_scales["lin_vel"], self.obs_scales["lin_vel"],
|
||||
self.obs_scales["ang_vel"], self.obs_scales["body_height_cmd"], 1, 1, 1, 1, 1,
|
||||
self.obs_scales["footswing_height_cmd"], self.obs_scales["body_pitch_cmd"],
|
||||
# 0, self.obs_scales["body_pitch_cmd"],
|
||||
self.obs_scales["body_roll_cmd"], self.obs_scales["stance_width_cmd"],
|
||||
self.obs_scales["stance_length_cmd"], self.obs_scales["aux_reward_cmd"], 1, 1, 1, 1, 1, 1
|
||||
])[:self.num_commands]
|
||||
|
||||
|
||||
joint_names = [
|
||||
"FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
|
||||
"FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
|
||||
"RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
|
||||
"RR_hip_joint", "RR_thigh_joint", "RR_calf_joint", ]
|
||||
self.default_dof_pos = np.array([self.cfg["init_state"]["default_joint_angles"][name] for name in joint_names])
|
||||
try:
|
||||
self.default_dof_pos_scale = np.array([self.cfg["init_state"]["default_hip_scales"], self.cfg["init_state"]["default_thigh_scales"], self.cfg["init_state"]["default_calf_scales"],
|
||||
self.cfg["init_state"]["default_hip_scales"], self.cfg["init_state"]["default_thigh_scales"], self.cfg["init_state"]["default_calf_scales"],
|
||||
self.cfg["init_state"]["default_hip_scales"], self.cfg["init_state"]["default_thigh_scales"], self.cfg["init_state"]["default_calf_scales"],
|
||||
self.cfg["init_state"]["default_hip_scales"], self.cfg["init_state"]["default_thigh_scales"], self.cfg["init_state"]["default_calf_scales"]])
|
||||
except KeyError:
|
||||
self.default_dof_pos_scale = np.ones(12)
|
||||
self.default_dof_pos = self.default_dof_pos * self.default_dof_pos_scale
|
||||
|
||||
self.p_gains = np.zeros(12)
|
||||
self.d_gains = np.zeros(12)
|
||||
for i in range(12):
|
||||
joint_name = joint_names[i]
|
||||
found = False
|
||||
for dof_name in self.cfg["control"]["stiffness"].keys():
|
||||
if dof_name in joint_name:
|
||||
self.p_gains[i] = self.cfg["control"]["stiffness"][dof_name]
|
||||
self.d_gains[i] = self.cfg["control"]["damping"][dof_name]
|
||||
found = True
|
||||
if not found:
|
||||
self.p_gains[i] = 0.
|
||||
self.d_gains[i] = 0.
|
||||
if self.cfg["control"]["control_type"] in ["P", "V"]:
|
||||
print(f"PD gain of joint {joint_name} were not defined, setting them to zero")
|
||||
|
||||
print(f"p_gains: {self.p_gains}")
|
||||
|
||||
self.commands = np.zeros((1, self.num_commands))
|
||||
self.actions = torch.zeros(12)
|
||||
self.last_actions = torch.zeros(12)
|
||||
self.gravity_vector = np.zeros(3)
|
||||
self.dof_pos = np.zeros(12)
|
||||
self.dof_vel = np.zeros(12)
|
||||
self.body_linear_vel = np.zeros(3)
|
||||
self.body_angular_vel = np.zeros(3)
|
||||
self.joint_pos_target = np.zeros(12)
|
||||
self.joint_vel_target = np.zeros(12)
|
||||
self.torques = np.zeros(12)
|
||||
self.contact_state = np.ones(4)
|
||||
|
||||
self.joint_idxs = self.se.joint_idxs
|
||||
|
||||
self.gait_indices = torch.zeros(self.num_envs, dtype=torch.float)
|
||||
self.clock_inputs = torch.zeros(self.num_envs, 4, dtype=torch.float)
|
||||
|
||||
if "obs_scales" in self.cfg.keys():
|
||||
self.obs_scales = self.cfg["obs_scales"]
|
||||
else:
|
||||
self.obs_scales = self.cfg["normalization"]["obs_scales"]
|
||||
|
||||
self.is_currently_probing = False
|
||||
|
||||
def set_probing(self, is_currently_probing):
|
||||
self.is_currently_probing = is_currently_probing
|
||||
|
||||
def get_obs(self):
|
||||
|
||||
self.gravity_vector = self.se.get_gravity_vector()
|
||||
cmds, reset_timer = self.command_profile.get_command(self.timestep * self.dt, probe=self.is_currently_probing)
|
||||
self.commands[:, :] = cmds[:self.num_commands]
|
||||
if reset_timer:
|
||||
self.reset_gait_indices()
|
||||
#else:
|
||||
# self.commands[:, 0:3] = self.command_profile.get_command(self.timestep * self.dt)[0:3]
|
||||
self.dof_pos = self.se.get_dof_pos()
|
||||
self.dof_vel = self.se.get_dof_vel()
|
||||
self.body_linear_vel = self.se.get_body_linear_vel()
|
||||
self.body_angular_vel = self.se.get_body_angular_vel()
|
||||
|
||||
ob = np.concatenate((self.gravity_vector.reshape(1, -1),
|
||||
self.commands * self.commands_scale,
|
||||
(self.dof_pos - self.default_dof_pos).reshape(1, -1) * self.obs_scales["dof_pos"],
|
||||
self.dof_vel.reshape(1, -1) * self.obs_scales["dof_vel"],
|
||||
torch.clip(self.actions, -self.cfg["normalization"]["clip_actions"],
|
||||
self.cfg["normalization"]["clip_actions"]).cpu().detach().numpy().reshape(1, -1)
|
||||
), axis=1)
|
||||
|
||||
if self.cfg["env"]["observe_two_prev_actions"]:
|
||||
ob = np.concatenate((ob,
|
||||
self.last_actions.cpu().detach().numpy().reshape(1, -1)), axis=1)
|
||||
|
||||
if self.cfg["env"]["observe_clock_inputs"]:
|
||||
ob = np.concatenate((ob,
|
||||
self.clock_inputs), axis=1)
|
||||
# print(self.clock_inputs)
|
||||
|
||||
if self.cfg["env"]["observe_vel"]:
|
||||
ob = np.concatenate(
|
||||
(self.body_linear_vel.reshape(1, -1) * self.obs_scales["lin_vel"],
|
||||
self.body_angular_vel.reshape(1, -1) * self.obs_scales["ang_vel"],
|
||||
ob), axis=1)
|
||||
|
||||
if self.cfg["env"]["observe_only_lin_vel"]:
|
||||
ob = np.concatenate(
|
||||
(self.body_linear_vel.reshape(1, -1) * self.obs_scales["lin_vel"],
|
||||
ob), axis=1)
|
||||
|
||||
if self.cfg["env"]["observe_yaw"]:
|
||||
heading = self.se.get_yaw()
|
||||
ob = np.concatenate((ob, heading.reshape(1, -1)), axis=-1)
|
||||
|
||||
self.contact_state = self.se.get_contact_state()
|
||||
if "observe_contact_states" in self.cfg["env"].keys() and self.cfg["env"]["observe_contact_states"]:
|
||||
ob = np.concatenate((ob, self.contact_state.reshape(1, -1)), axis=-1)
|
||||
|
||||
if "terrain" in self.cfg.keys() and self.cfg["terrain"]["measure_heights"]:
|
||||
robot_height = 0.25
|
||||
self.measured_heights = np.zeros(
|
||||
(len(self.cfg["terrain"]["measured_points_x"]), len(self.cfg["terrain"]["measured_points_y"]))).reshape(
|
||||
1, -1)
|
||||
heights = np.clip(robot_height - 0.5 - self.measured_heights, -1, 1.) * self.obs_scales["height_measurements"]
|
||||
ob = np.concatenate((ob, heights), axis=1)
|
||||
|
||||
|
||||
return torch.tensor(ob, device=self.device).float()
|
||||
|
||||
def get_privileged_observations(self):
|
||||
return None
|
||||
|
||||
def publish_action(self, action, hard_reset=False):
|
||||
|
||||
command_for_robot = pd_tau_targets_lcmt()
|
||||
self.joint_pos_target = \
|
||||
(action[0, :12].detach().cpu().numpy() * self.cfg["control"]["action_scale"]).flatten()
|
||||
self.joint_pos_target[[0, 3, 6, 9]] *= self.cfg["control"]["hip_scale_reduction"]
|
||||
# self.joint_pos_target[[0, 3, 6, 9]] *= -1
|
||||
self.joint_pos_target = self.joint_pos_target
|
||||
self.joint_pos_target += self.default_dof_pos
|
||||
joint_pos_target = self.joint_pos_target[self.joint_idxs]
|
||||
self.joint_vel_target = np.zeros(12)
|
||||
# print(f'cjp {self.joint_pos_target}')
|
||||
|
||||
command_for_robot.q_des = joint_pos_target
|
||||
command_for_robot.qd_des = self.joint_vel_target
|
||||
command_for_robot.kp = self.p_gains
|
||||
command_for_robot.kd = self.d_gains
|
||||
command_for_robot.tau_ff = np.zeros(12)
|
||||
command_for_robot.se_contactState = np.zeros(4)
|
||||
command_for_robot.timestamp_us = int(time.time() * 10 ** 6)
|
||||
command_for_robot.id = 0
|
||||
|
||||
if hard_reset:
|
||||
command_for_robot.id = -1
|
||||
|
||||
|
||||
self.torques = (self.joint_pos_target - self.dof_pos) * self.p_gains + (self.joint_vel_target - self.dof_vel) * self.d_gains
|
||||
|
||||
lc.publish("pd_plustau_targets", command_for_robot.encode())
|
||||
|
||||
def reset(self):
|
||||
self.actions = torch.zeros(12)
|
||||
self.time = time.time()
|
||||
self.timestep = 0
|
||||
return self.get_obs()
|
||||
|
||||
def reset_gait_indices(self):
|
||||
self.gait_indices = torch.zeros(self.num_envs, dtype=torch.float)
|
||||
|
||||
def step(self, actions, hard_reset=False):
|
||||
clip_actions = self.cfg["normalization"]["clip_actions"]
|
||||
self.last_actions = self.actions[:]
|
||||
self.actions = torch.clip(actions[0:1, :], -clip_actions, clip_actions)
|
||||
self.publish_action(self.actions, hard_reset=hard_reset)
|
||||
time.sleep(max(self.dt - (time.time() - self.time), 0))
|
||||
if self.timestep % 100 == 0: print(f'frq: {1 / (time.time() - self.time)} Hz');
|
||||
self.time = time.time()
|
||||
obs = self.get_obs()
|
||||
|
||||
# clock accounting
|
||||
frequencies = self.commands[:, 4]
|
||||
phases = self.commands[:, 5]
|
||||
offsets = self.commands[:, 6]
|
||||
if self.num_commands == 8:
|
||||
bounds = 0
|
||||
durations = self.commands[:, 7]
|
||||
else:
|
||||
bounds = self.commands[:, 7]
|
||||
durations = self.commands[:, 8]
|
||||
self.gait_indices = torch.remainder(self.gait_indices + self.dt * frequencies, 1.0)
|
||||
|
||||
if "pacing_offset" in self.cfg["commands"] and self.cfg["commands"]["pacing_offset"]:
|
||||
self.foot_indices = [self.gait_indices + phases + offsets + bounds,
|
||||
self.gait_indices + bounds,
|
||||
self.gait_indices + offsets,
|
||||
self.gait_indices + phases]
|
||||
else:
|
||||
self.foot_indices = [self.gait_indices + phases + offsets + bounds,
|
||||
self.gait_indices + offsets,
|
||||
self.gait_indices + bounds,
|
||||
self.gait_indices + phases]
|
||||
self.clock_inputs[:, 0] = torch.sin(2 * np.pi * self.foot_indices[0])
|
||||
self.clock_inputs[:, 1] = torch.sin(2 * np.pi * self.foot_indices[1])
|
||||
self.clock_inputs[:, 2] = torch.sin(2 * np.pi * self.foot_indices[2])
|
||||
self.clock_inputs[:, 3] = torch.sin(2 * np.pi * self.foot_indices[3])
|
||||
|
||||
|
||||
images = {'front': self.se.get_camera_front(),
|
||||
'bottom': self.se.get_camera_bottom(),
|
||||
'rear': self.se.get_camera_rear(),
|
||||
'left': self.se.get_camera_left(),
|
||||
'right': self.se.get_camera_right()
|
||||
}
|
||||
downscale_factor = 2
|
||||
temporal_downscale = 3
|
||||
|
||||
for k, v in images.items():
|
||||
if images[k] is not None:
|
||||
images[k] = cv2.resize(images[k], dsize=(images[k].shape[0]//downscale_factor, images[k].shape[1]//downscale_factor), interpolation=cv2.INTER_CUBIC)
|
||||
if self.timestep % temporal_downscale != 0:
|
||||
images[k] = None
|
||||
#print(self.commands)
|
||||
|
||||
infos = {"joint_pos": self.dof_pos[np.newaxis, :],
|
||||
"joint_vel": self.dof_vel[np.newaxis, :],
|
||||
"joint_pos_target": self.joint_pos_target[np.newaxis, :],
|
||||
"joint_vel_target": self.joint_vel_target[np.newaxis, :],
|
||||
"body_linear_vel": self.body_linear_vel[np.newaxis, :],
|
||||
"body_angular_vel": self.body_angular_vel[np.newaxis, :],
|
||||
"contact_state": self.contact_state[np.newaxis, :],
|
||||
"clock_inputs": self.clock_inputs[np.newaxis, :],
|
||||
"body_linear_vel_cmd": self.commands[:, 0:2],
|
||||
"body_angular_vel_cmd": self.commands[:, 2:],
|
||||
"privileged_obs": None,
|
||||
"camera_image_front": images['front'],
|
||||
"camera_image_bottom": images['bottom'],
|
||||
"camera_image_rear": images['rear'],
|
||||
"camera_image_left": images['left'],
|
||||
"camera_image_right": images['right'],
|
||||
}
|
||||
|
||||
self.timestep += 1
|
||||
return obs, None, None, infos
|
||||
|
|
@ -1,22 +0,0 @@
|
|||
#!/bin/bash
|
||||
|
||||
echo "======================================"
|
||||
echo "== Go1 Sim-to-Real Installation Kit =="
|
||||
echo "======================================"
|
||||
echo ""
|
||||
echo "Author: Gabriel Margolis, Improbable AI Lab, MIT"
|
||||
echo "This software is intended to support controls research. It includes safety features but may still damage your Go1. The user assumes all risk."
|
||||
echo ""
|
||||
|
||||
read -r -p "Extract docker container? [y/N] " response
|
||||
if [[ "$response" =~ ^([yY][eE][sS]|[yY])$ ]]
|
||||
then
|
||||
# load docker image
|
||||
echo "[Step 1] Extracting docker image..."
|
||||
docker load -i ../scripts/deployment_image.tar
|
||||
printf "\nDone!\n"
|
||||
else
|
||||
echo "Quitting"
|
||||
fi
|
||||
|
||||
|
||||
|
|
@ -1,60 +0,0 @@
|
|||
"""LCM type definitions
|
||||
This file automatically generated by lcm.
|
||||
DO NOT MODIFY BY HAND!!!!
|
||||
"""
|
||||
|
||||
try:
|
||||
import cStringIO.StringIO as BytesIO
|
||||
except ImportError:
|
||||
from io import BytesIO
|
||||
import struct
|
||||
|
||||
class camera_message_lcmt(object):
|
||||
__slots__ = ["data"]
|
||||
|
||||
__typenames__ = ["byte"]
|
||||
|
||||
__dimensions__ = [[278400]]
|
||||
|
||||
def __init__(self):
|
||||
self.data = ""
|
||||
|
||||
def encode(self):
|
||||
buf = BytesIO()
|
||||
buf.write(camera_message_lcmt._get_packed_fingerprint())
|
||||
self._encode_one(buf)
|
||||
return buf.getvalue()
|
||||
|
||||
def _encode_one(self, buf):
|
||||
buf.write(bytearray(self.data[:278400]))
|
||||
|
||||
def decode(data):
|
||||
if hasattr(data, 'read'):
|
||||
buf = data
|
||||
else:
|
||||
buf = BytesIO(data)
|
||||
if buf.read(8) != camera_message_lcmt._get_packed_fingerprint():
|
||||
raise ValueError("Decode error")
|
||||
return camera_message_lcmt._decode_one(buf)
|
||||
decode = staticmethod(decode)
|
||||
|
||||
def _decode_one(buf):
|
||||
self = camera_message_lcmt()
|
||||
self.data = buf.read(278400)
|
||||
return self
|
||||
_decode_one = staticmethod(_decode_one)
|
||||
|
||||
_hash = None
|
||||
def _get_hash_recursive(parents):
|
||||
if camera_message_lcmt in parents: return 0
|
||||
tmphash = (0x1610a8a9f4d174b7) & 0xffffffffffffffff
|
||||
tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
|
||||
return tmphash
|
||||
_get_hash_recursive = staticmethod(_get_hash_recursive)
|
||||
_packed_fingerprint = None
|
||||
|
||||
def _get_packed_fingerprint():
|
||||
if camera_message_lcmt._packed_fingerprint is None:
|
||||
camera_message_lcmt._packed_fingerprint = struct.pack(">Q", camera_message_lcmt._get_hash_recursive([]))
|
||||
return camera_message_lcmt._packed_fingerprint
|
||||
_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
|
||||
|
|
@ -1,57 +0,0 @@
|
|||
"""LCM type definitions
|
||||
This file automatically generated by lcm.
|
||||
DO NOT MODIFY BY HAND!!!!
|
||||
"""
|
||||
|
||||
try:
|
||||
import cStringIO.StringIO as BytesIO
|
||||
except ImportError:
|
||||
from io import BytesIO
|
||||
import struct
|
||||
|
||||
class camera_message_rect_wide(object):
|
||||
__slots__ = ["data"]
|
||||
|
||||
def __init__(self):
|
||||
self.data = ""
|
||||
|
||||
def encode(self):
|
||||
buf = BytesIO()
|
||||
buf.write(camera_message_rect_wide._get_packed_fingerprint())
|
||||
self._encode_one(buf)
|
||||
return buf.getvalue()
|
||||
|
||||
def _encode_one(self, buf):
|
||||
buf.write(bytearray(self.data[:34800]))
|
||||
|
||||
def decode(data):
|
||||
if hasattr(data, 'read'):
|
||||
buf = data
|
||||
else:
|
||||
buf = BytesIO(data)
|
||||
if buf.read(8) != camera_message_rect_wide._get_packed_fingerprint():
|
||||
raise ValueError("Decode error")
|
||||
return camera_message_rect_wide._decode_one(buf)
|
||||
decode = staticmethod(decode)
|
||||
|
||||
def _decode_one(buf):
|
||||
self = camera_message_rect_wide()
|
||||
self.data = buf.read(34800)
|
||||
return self
|
||||
_decode_one = staticmethod(_decode_one)
|
||||
|
||||
_hash = None
|
||||
def _get_hash_recursive(parents):
|
||||
if camera_message_rect_wide in parents: return 0
|
||||
tmphash = (0xc3e9f058530b2a8b) & 0xffffffffffffffff
|
||||
tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
|
||||
return tmphash
|
||||
_get_hash_recursive = staticmethod(_get_hash_recursive)
|
||||
_packed_fingerprint = None
|
||||
|
||||
def _get_packed_fingerprint():
|
||||
if camera_message_rect_wide._packed_fingerprint is None:
|
||||
camera_message_rect_wide._packed_fingerprint = struct.pack(">Q", camera_message_rect_wide._get_hash_recursive([]))
|
||||
return camera_message_rect_wide._packed_fingerprint
|
||||
_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
|
||||
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
struct leg_control_data_lcmt
|
||||
{
|
||||
float q[12];
|
||||
float qd[12];
|
||||
float p[12];
|
||||
float v[12];
|
||||
float tau_est[12];
|
||||
int64_t timestamp_us;
|
||||
int64_t id;
|
||||
int64_t robot_id;
|
||||
}
|
||||
|
|
@ -1,85 +0,0 @@
|
|||
"""LCM type definitions
|
||||
This file automatically generated by lcm.
|
||||
DO NOT MODIFY BY HAND!!!!
|
||||
"""
|
||||
|
||||
try:
|
||||
import cStringIO.StringIO as BytesIO
|
||||
except ImportError:
|
||||
from io import BytesIO
|
||||
import struct
|
||||
|
||||
|
||||
class leg_control_data_lcmt(object):
|
||||
__slots__ = ["q", "qd", "p", "v", "tau_est", "timestamp_us", "id", "robot_id"]
|
||||
|
||||
__typenames__ = ["float", "float", "float", "float", "float", "int64_t", "int64_t", "int64_t"]
|
||||
|
||||
__dimensions__ = [[12], [12], [12], [12], [12], None, None, None]
|
||||
|
||||
def __init__(self):
|
||||
self.q = [0.0 for dim0 in range(12)]
|
||||
self.qd = [0.0 for dim0 in range(12)]
|
||||
self.p = [0.0 for dim0 in range(12)]
|
||||
self.v = [0.0 for dim0 in range(12)]
|
||||
self.tau_est = [0.0 for dim0 in range(12)]
|
||||
self.timestamp_us = 0
|
||||
self.id = 0
|
||||
self.robot_id = 0
|
||||
|
||||
def encode(self):
|
||||
buf = BytesIO()
|
||||
buf.write(leg_control_data_lcmt._get_packed_fingerprint())
|
||||
self._encode_one(buf)
|
||||
return buf.getvalue()
|
||||
|
||||
def _encode_one(self, buf):
|
||||
buf.write(struct.pack('>12f', *self.q[:12]))
|
||||
buf.write(struct.pack('>12f', *self.qd[:12]))
|
||||
buf.write(struct.pack('>12f', *self.p[:12]))
|
||||
buf.write(struct.pack('>12f', *self.v[:12]))
|
||||
buf.write(struct.pack('>12f', *self.tau_est[:12]))
|
||||
buf.write(struct.pack(">qqq", self.timestamp_us, self.id, self.robot_id))
|
||||
|
||||
def decode(data):
|
||||
if hasattr(data, 'read'):
|
||||
buf = data
|
||||
else:
|
||||
buf = BytesIO(data)
|
||||
if buf.read(8) != leg_control_data_lcmt._get_packed_fingerprint():
|
||||
raise ValueError("Decode error")
|
||||
return leg_control_data_lcmt._decode_one(buf)
|
||||
|
||||
decode = staticmethod(decode)
|
||||
|
||||
def _decode_one(buf):
|
||||
self = leg_control_data_lcmt()
|
||||
self.q = struct.unpack('>12f', buf.read(48))
|
||||
self.qd = struct.unpack('>12f', buf.read(48))
|
||||
self.p = struct.unpack('>12f', buf.read(48))
|
||||
self.v = struct.unpack('>12f', buf.read(48))
|
||||
self.tau_est = struct.unpack('>12f', buf.read(48))
|
||||
self.timestamp_us, self.id, self.robot_id = struct.unpack(">qqq", buf.read(24))
|
||||
return self
|
||||
|
||||
_decode_one = staticmethod(_decode_one)
|
||||
|
||||
def _get_hash_recursive(parents):
|
||||
if leg_control_data_lcmt in parents: return 0
|
||||
tmphash = (0xa9a928b534bfc487) & 0xffffffffffffffff
|
||||
tmphash = (((tmphash << 1) & 0xffffffffffffffff) + (tmphash >> 63)) & 0xffffffffffffffff
|
||||
return tmphash
|
||||
|
||||
_get_hash_recursive = staticmethod(_get_hash_recursive)
|
||||
_packed_fingerprint = None
|
||||
|
||||
def _get_packed_fingerprint():
|
||||
if leg_control_data_lcmt._packed_fingerprint is None:
|
||||
leg_control_data_lcmt._packed_fingerprint = struct.pack(">Q", leg_control_data_lcmt._get_hash_recursive([]))
|
||||
return leg_control_data_lcmt._packed_fingerprint
|
||||
|
||||
_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
|
||||
|
||||
def get_hash(self):
|
||||
"""Get the LCM hash of the struct"""
|
||||
return struct.unpack(">Q", leg_control_data_lcmt._get_packed_fingerprint())[0]
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
struct pd_tau_targets_lcmt
|
||||
{
|
||||
double q_des[12];
|
||||
double qd_des[12];
|
||||
double tau_ff[12];
|
||||
double kp[12];
|
||||
double kd[12];
|
||||
int64_t timestamp_us;
|
||||
int64_t id;
|
||||
int64_t robot_id;
|
||||
double se_contactState[4];
|
||||
}
|
||||
|
|
@ -1,88 +0,0 @@
|
|||
"""LCM type definitions
|
||||
This file automatically generated by lcm.
|
||||
DO NOT MODIFY BY HAND!!!!
|
||||
"""
|
||||
|
||||
try:
|
||||
import cStringIO.StringIO as BytesIO
|
||||
except ImportError:
|
||||
from io import BytesIO
|
||||
import struct
|
||||
|
||||
|
||||
class pd_tau_targets_lcmt(object):
|
||||
__slots__ = ["q_des", "qd_des", "tau_ff", "kp", "kd", "timestamp_us", "id", "robot_id", "se_contactState"]
|
||||
|
||||
__typenames__ = ["double", "double", "double", "double", "double", "int64_t", "int64_t", "int64_t", "double"]
|
||||
|
||||
__dimensions__ = [[12], [12], [12], [12], [12], None, None, None, [4]]
|
||||
|
||||
def __init__(self):
|
||||
self.q_des = [0.0 for dim0 in range(12)]
|
||||
self.qd_des = [0.0 for dim0 in range(12)]
|
||||
self.tau_ff = [0.0 for dim0 in range(12)]
|
||||
self.kp = [0.0 for dim0 in range(12)]
|
||||
self.kd = [0.0 for dim0 in range(12)]
|
||||
self.timestamp_us = 0
|
||||
self.id = 0
|
||||
self.robot_id = 0
|
||||
self.se_contactState = [0.0 for dim0 in range(4)]
|
||||
|
||||
def encode(self):
|
||||
buf = BytesIO()
|
||||
buf.write(pd_tau_targets_lcmt._get_packed_fingerprint())
|
||||
self._encode_one(buf)
|
||||
return buf.getvalue()
|
||||
|
||||
def _encode_one(self, buf):
|
||||
buf.write(struct.pack('>12d', *self.q_des[:12]))
|
||||
buf.write(struct.pack('>12d', *self.qd_des[:12]))
|
||||
buf.write(struct.pack('>12d', *self.tau_ff[:12]))
|
||||
buf.write(struct.pack('>12d', *self.kp[:12]))
|
||||
buf.write(struct.pack('>12d', *self.kd[:12]))
|
||||
buf.write(struct.pack(">qqq", self.timestamp_us, self.id, self.robot_id))
|
||||
buf.write(struct.pack('>4d', *self.se_contactState[:4]))
|
||||
|
||||
def decode(data):
|
||||
if hasattr(data, 'read'):
|
||||
buf = data
|
||||
else:
|
||||
buf = BytesIO(data)
|
||||
if buf.read(8) != pd_tau_targets_lcmt._get_packed_fingerprint():
|
||||
raise ValueError("Decode error")
|
||||
return pd_tau_targets_lcmt._decode_one(buf)
|
||||
|
||||
decode = staticmethod(decode)
|
||||
|
||||
def _decode_one(buf):
|
||||
self = pd_tau_targets_lcmt()
|
||||
self.q_des = struct.unpack('>12d', buf.read(96))
|
||||
self.qd_des = struct.unpack('>12d', buf.read(96))
|
||||
self.tau_ff = struct.unpack('>12d', buf.read(96))
|
||||
self.kp = struct.unpack('>12d', buf.read(96))
|
||||
self.kd = struct.unpack('>12d', buf.read(96))
|
||||
self.timestamp_us, self.id, self.robot_id = struct.unpack(">qqq", buf.read(24))
|
||||
self.se_contactState = struct.unpack('>4d', buf.read(32))
|
||||
return self
|
||||
|
||||
_decode_one = staticmethod(_decode_one)
|
||||
|
||||
def _get_hash_recursive(parents):
|
||||
if pd_tau_targets_lcmt in parents: return 0
|
||||
tmphash = (0x6d88128ef1291cc1) & 0xffffffffffffffff
|
||||
tmphash = (((tmphash << 1) & 0xffffffffffffffff) + (tmphash >> 63)) & 0xffffffffffffffff
|
||||
return tmphash
|
||||
|
||||
_get_hash_recursive = staticmethod(_get_hash_recursive)
|
||||
_packed_fingerprint = None
|
||||
|
||||
def _get_packed_fingerprint():
|
||||
if pd_tau_targets_lcmt._packed_fingerprint is None:
|
||||
pd_tau_targets_lcmt._packed_fingerprint = struct.pack(">Q", pd_tau_targets_lcmt._get_hash_recursive([]))
|
||||
return pd_tau_targets_lcmt._packed_fingerprint
|
||||
|
||||
_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
|
||||
|
||||
def get_hash(self):
|
||||
"""Get the LCM hash of the struct"""
|
||||
return struct.unpack(">Q", pd_tau_targets_lcmt._get_packed_fingerprint())[0]
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
struct rc_command_lcmt
|
||||
{
|
||||
int16_t mode;
|
||||
float left_stick[2];
|
||||
float right_stick[2];
|
||||
float knobs[2];
|
||||
int16_t left_upper_switch;
|
||||
int16_t left_lower_left_switch;
|
||||
int16_t left_lower_right_switch;
|
||||
int16_t right_upper_switch;
|
||||
int16_t right_lower_left_switch;
|
||||
int16_t right_lower_right_switch;
|
||||
}
|
||||
|
|
@ -1,90 +0,0 @@
|
|||
"""LCM type definitions
|
||||
This file automatically generated by lcm.
|
||||
DO NOT MODIFY BY HAND!!!!
|
||||
"""
|
||||
|
||||
try:
|
||||
import cStringIO.StringIO as BytesIO
|
||||
except ImportError:
|
||||
from io import BytesIO
|
||||
import struct
|
||||
|
||||
|
||||
class rc_command_lcmt(object):
|
||||
__slots__ = ["mode", "left_stick", "right_stick", "knobs", "left_upper_switch", "left_lower_left_switch",
|
||||
"left_lower_right_switch", "right_upper_switch", "right_lower_left_switch", "right_lower_right_switch"]
|
||||
|
||||
__typenames__ = ["int16_t", "float", "float", "float", "int16_t", "int16_t", "int16_t", "int16_t", "int16_t",
|
||||
"int16_t"]
|
||||
|
||||
__dimensions__ = [None, [2], [2], [2], None, None, None, None, None, None]
|
||||
|
||||
def __init__(self):
|
||||
self.mode = 0
|
||||
self.left_stick = [0.0 for dim0 in range(2)]
|
||||
self.right_stick = [0.0 for dim0 in range(2)]
|
||||
self.knobs = [0.0 for dim0 in range(2)]
|
||||
self.left_upper_switch = 0
|
||||
self.left_lower_left_switch = 0
|
||||
self.left_lower_right_switch = 0
|
||||
self.right_upper_switch = 0
|
||||
self.right_lower_left_switch = 0
|
||||
self.right_lower_right_switch = 0
|
||||
|
||||
def encode(self):
|
||||
buf = BytesIO()
|
||||
buf.write(rc_command_lcmt._get_packed_fingerprint())
|
||||
self._encode_one(buf)
|
||||
return buf.getvalue()
|
||||
|
||||
def _encode_one(self, buf):
|
||||
buf.write(struct.pack(">h", self.mode))
|
||||
buf.write(struct.pack('>2f', *self.left_stick[:2]))
|
||||
buf.write(struct.pack('>2f', *self.right_stick[:2]))
|
||||
buf.write(struct.pack('>2f', *self.knobs[:2]))
|
||||
buf.write(
|
||||
struct.pack(">hhhhhh", self.left_upper_switch, self.left_lower_left_switch, self.left_lower_right_switch,
|
||||
self.right_upper_switch, self.right_lower_left_switch, self.right_lower_right_switch))
|
||||
|
||||
def decode(data):
|
||||
if hasattr(data, 'read'):
|
||||
buf = data
|
||||
else:
|
||||
buf = BytesIO(data)
|
||||
if buf.read(8) != rc_command_lcmt._get_packed_fingerprint():
|
||||
raise ValueError("Decode error")
|
||||
return rc_command_lcmt._decode_one(buf)
|
||||
|
||||
decode = staticmethod(decode)
|
||||
|
||||
def _decode_one(buf):
|
||||
self = rc_command_lcmt()
|
||||
self.mode = struct.unpack(">h", buf.read(2))[0]
|
||||
self.left_stick = struct.unpack('>2f', buf.read(8))
|
||||
self.right_stick = struct.unpack('>2f', buf.read(8))
|
||||
self.knobs = struct.unpack('>2f', buf.read(8))
|
||||
self.left_upper_switch, self.left_lower_left_switch, self.left_lower_right_switch, self.right_upper_switch, self.right_lower_left_switch, self.right_lower_right_switch = struct.unpack(
|
||||
">hhhhhh", buf.read(12))
|
||||
return self
|
||||
|
||||
_decode_one = staticmethod(_decode_one)
|
||||
|
||||
def _get_hash_recursive(parents):
|
||||
if rc_command_lcmt in parents: return 0
|
||||
tmphash = (0xc7726b02ec3e7de2) & 0xffffffffffffffff
|
||||
tmphash = (((tmphash << 1) & 0xffffffffffffffff) + (tmphash >> 63)) & 0xffffffffffffffff
|
||||
return tmphash
|
||||
|
||||
_get_hash_recursive = staticmethod(_get_hash_recursive)
|
||||
_packed_fingerprint = None
|
||||
|
||||
def _get_packed_fingerprint():
|
||||
if rc_command_lcmt._packed_fingerprint is None:
|
||||
rc_command_lcmt._packed_fingerprint = struct.pack(">Q", rc_command_lcmt._get_hash_recursive([]))
|
||||
return rc_command_lcmt._packed_fingerprint
|
||||
|
||||
_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
|
||||
|
||||
def get_hash(self):
|
||||
"""Get the LCM hash of the struct"""
|
||||
return struct.unpack(">Q", rc_command_lcmt._get_packed_fingerprint())[0]
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
struct state_estimator_lcmt
|
||||
{
|
||||
float p[3];
|
||||
float vWorld[3];
|
||||
float vBody[3];
|
||||
float rpy[3];
|
||||
float omegaBody[3];
|
||||
float omegaWorld[3];
|
||||
float quat[4];
|
||||
float contact_estimate[4];
|
||||
float aBody[3];
|
||||
float aWorld[3];
|
||||
int64_t timestamp_us;
|
||||
int64_t id;
|
||||
int64_t robot_id;
|
||||
}
|
||||
|
|
@ -1,102 +0,0 @@
|
|||
"""LCM type definitions
|
||||
This file automatically generated by lcm.
|
||||
DO NOT MODIFY BY HAND!!!!
|
||||
"""
|
||||
|
||||
try:
|
||||
import cStringIO.StringIO as BytesIO
|
||||
except ImportError:
|
||||
from io import BytesIO
|
||||
import struct
|
||||
|
||||
|
||||
class state_estimator_lcmt(object):
|
||||
__slots__ = ["p", "vWorld", "vBody", "rpy", "omegaBody", "omegaWorld", "quat", "contact_estimate", "aBody",
|
||||
"aWorld", "timestamp_us", "id", "robot_id"]
|
||||
|
||||
__typenames__ = ["float", "float", "float", "float", "float", "float", "float", "float", "float", "float",
|
||||
"int64_t", "int64_t", "int64_t"]
|
||||
|
||||
__dimensions__ = [[3], [3], [3], [3], [3], [3], [4], [4], [3], [3], None, None, None]
|
||||
|
||||
def __init__(self):
|
||||
self.p = [0.0 for dim0 in range(3)]
|
||||
self.vWorld = [0.0 for dim0 in range(3)]
|
||||
self.vBody = [0.0 for dim0 in range(3)]
|
||||
self.rpy = [0.0 for dim0 in range(3)]
|
||||
self.omegaBody = [0.0 for dim0 in range(3)]
|
||||
self.omegaWorld = [0.0 for dim0 in range(3)]
|
||||
self.quat = [0.0 for dim0 in range(4)]
|
||||
self.contact_estimate = [0.0 for dim0 in range(4)]
|
||||
self.aBody = [0.0 for dim0 in range(3)]
|
||||
self.aWorld = [0.0 for dim0 in range(3)]
|
||||
self.timestamp_us = 0
|
||||
self.id = 0
|
||||
self.robot_id = 0
|
||||
|
||||
def encode(self):
|
||||
buf = BytesIO()
|
||||
buf.write(state_estimator_lcmt._get_packed_fingerprint())
|
||||
self._encode_one(buf)
|
||||
return buf.getvalue()
|
||||
|
||||
def _encode_one(self, buf):
|
||||
buf.write(struct.pack('>3f', *self.p[:3]))
|
||||
buf.write(struct.pack('>3f', *self.vWorld[:3]))
|
||||
buf.write(struct.pack('>3f', *self.vBody[:3]))
|
||||
buf.write(struct.pack('>3f', *self.rpy[:3]))
|
||||
buf.write(struct.pack('>3f', *self.omegaBody[:3]))
|
||||
buf.write(struct.pack('>3f', *self.omegaWorld[:3]))
|
||||
buf.write(struct.pack('>4f', *self.quat[:4]))
|
||||
buf.write(struct.pack('>4f', *self.contact_estimate[:4]))
|
||||
buf.write(struct.pack('>3f', *self.aBody[:3]))
|
||||
buf.write(struct.pack('>3f', *self.aWorld[:3]))
|
||||
buf.write(struct.pack(">qqq", self.timestamp_us, self.id, self.robot_id))
|
||||
|
||||
def decode(data):
|
||||
if hasattr(data, 'read'):
|
||||
buf = data
|
||||
else:
|
||||
buf = BytesIO(data)
|
||||
if buf.read(8) != state_estimator_lcmt._get_packed_fingerprint():
|
||||
raise ValueError("Decode error")
|
||||
return state_estimator_lcmt._decode_one(buf)
|
||||
|
||||
decode = staticmethod(decode)
|
||||
|
||||
def _decode_one(buf):
|
||||
self = state_estimator_lcmt()
|
||||
self.p = struct.unpack('>3f', buf.read(12))
|
||||
self.vWorld = struct.unpack('>3f', buf.read(12))
|
||||
self.vBody = struct.unpack('>3f', buf.read(12))
|
||||
self.rpy = struct.unpack('>3f', buf.read(12))
|
||||
self.omegaBody = struct.unpack('>3f', buf.read(12))
|
||||
self.omegaWorld = struct.unpack('>3f', buf.read(12))
|
||||
self.quat = struct.unpack('>4f', buf.read(16))
|
||||
self.contact_estimate = struct.unpack('>4f', buf.read(16))
|
||||
self.aBody = struct.unpack('>3f', buf.read(12))
|
||||
self.aWorld = struct.unpack('>3f', buf.read(12))
|
||||
self.timestamp_us, self.id, self.robot_id = struct.unpack(">qqq", buf.read(24))
|
||||
return self
|
||||
|
||||
_decode_one = staticmethod(_decode_one)
|
||||
|
||||
def _get_hash_recursive(parents):
|
||||
if state_estimator_lcmt in parents: return 0
|
||||
tmphash = (0xea87c8282effe5b6) & 0xffffffffffffffff
|
||||
tmphash = (((tmphash << 1) & 0xffffffffffffffff) + (tmphash >> 63)) & 0xffffffffffffffff
|
||||
return tmphash
|
||||
|
||||
_get_hash_recursive = staticmethod(_get_hash_recursive)
|
||||
_packed_fingerprint = None
|
||||
|
||||
def _get_packed_fingerprint():
|
||||
if state_estimator_lcmt._packed_fingerprint is None:
|
||||
state_estimator_lcmt._packed_fingerprint = struct.pack(">Q", state_estimator_lcmt._get_hash_recursive([]))
|
||||
return state_estimator_lcmt._packed_fingerprint
|
||||
|
||||
_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
|
||||
|
||||
def get_hash(self):
|
||||
"""Get the LCM hash of the struct"""
|
||||
return struct.unpack(">Q", state_estimator_lcmt._get_packed_fingerprint())[0]
|
||||
|
|
@ -1,77 +0,0 @@
|
|||
import glob
|
||||
import pickle as pkl
|
||||
import lcm
|
||||
import sys
|
||||
|
||||
from go1_gym_deploy.utils.deployment_runner import DeploymentRunner
|
||||
from go1_gym_deploy.envs.lcm_agent import LCMAgent
|
||||
from go1_gym_deploy.utils.cheetah_state_estimator import StateEstimator
|
||||
from go1_gym_deploy.utils.command_profile import *
|
||||
|
||||
import pathlib
|
||||
|
||||
lc = lcm.LCM("udpm://239.255.76.67:7667?ttl=255")
|
||||
|
||||
def load_and_run_policy(label, experiment_name, max_vel=1.0, max_yaw_vel=1.0):
|
||||
# load agent
|
||||
dirs = glob.glob(f"../../runs/{label}/*")
|
||||
logdir = sorted(dirs)[0]
|
||||
|
||||
with open(logdir+"/parameters.pkl", 'rb') as file:
|
||||
pkl_cfg = pkl.load(file)
|
||||
print(pkl_cfg.keys())
|
||||
cfg = pkl_cfg["Cfg"]
|
||||
print(cfg.keys())
|
||||
|
||||
|
||||
se = StateEstimator(lc)
|
||||
|
||||
control_dt = 0.02
|
||||
command_profile = RCControllerProfile(dt=control_dt, state_estimator=se, x_scale=max_vel, y_scale=0.6, yaw_scale=max_yaw_vel)
|
||||
|
||||
hardware_agent = LCMAgent(cfg, se, command_profile)
|
||||
se.spin()
|
||||
|
||||
from go1_gym_deploy.envs.history_wrapper import HistoryWrapper
|
||||
hardware_agent = HistoryWrapper(hardware_agent)
|
||||
|
||||
policy = load_policy(logdir)
|
||||
|
||||
# load runner
|
||||
root = f"{pathlib.Path(__file__).parent.resolve()}/../../logs/"
|
||||
pathlib.Path(root).mkdir(parents=True, exist_ok=True)
|
||||
deployment_runner = DeploymentRunner(experiment_name=experiment_name, se=None,
|
||||
log_root=f"{root}/{experiment_name}")
|
||||
deployment_runner.add_control_agent(hardware_agent, "hardware_closed_loop")
|
||||
deployment_runner.add_policy(policy)
|
||||
deployment_runner.add_command_profile(command_profile)
|
||||
|
||||
if len(sys.argv) >= 2:
|
||||
max_steps = int(sys.argv[1])
|
||||
else:
|
||||
max_steps = 10000000
|
||||
print(f'max steps {max_steps}')
|
||||
|
||||
deployment_runner.run(max_steps=max_steps, logging=True)
|
||||
|
||||
def load_policy(logdir):
|
||||
body = torch.jit.load(logdir + '/checkpoints/body_latest.jit')
|
||||
import os
|
||||
adaptation_module = torch.jit.load(logdir + '/checkpoints/adaptation_module_latest.jit')
|
||||
|
||||
def policy(obs, info):
|
||||
i = 0
|
||||
latent = adaptation_module.forward(obs["obs_history"].to('cpu'))
|
||||
action = body.forward(torch.cat((obs["obs_history"].to('cpu'), latent), dim=-1))
|
||||
info['latent'] = latent
|
||||
return action
|
||||
|
||||
return policy
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
label = "gait-conditioned-agility/pretrain-v0/train"
|
||||
|
||||
experiment_name = "example_experiment"
|
||||
|
||||
load_and_run_policy(label, experiment_name=experiment_name, max_vel=3.5, max_yaw_vel=5.0)
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
#!/bin/bash
|
||||
# download docker image if it doesn't exist yet
|
||||
wget --directory-prefix=../docker -nc --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1XkVpyYyYqQQ4FcgLIDUxg-GR1WI89-XC' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1XkVpyYyYqQQ4FcgLIDUxg-GR1WI89-XC" -O deployment_image.tar && rm -rf /tmp/cookies.txt
|
||||
|
||||
#rsync -av -e ssh --exclude=*.pt --exclude=*.mp4 $PWD/../../go1_gym_deploy $PWD/../../runs $PWD/../../setup.py pi@192.168.12.1:/home/pi/go1_gym
|
||||
rsync -av -e ssh --exclude=*.pt --exclude=*.mp4 $PWD/../../go1_gym_deploy $PWD/../../runs $PWD/../setup.py unitree@192.168.123.15:/home/unitree/go1_gym
|
||||
#scp -r $PWD/../../runs pi@192.168.12.1:/home/pi/go1_gym
|
||||
#scp -r $PWD/../../setup.py pi@192.168.12.1:/home/pi/go1_gym
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
from setuptools import find_packages
|
||||
from distutils.core import setup
|
||||
|
||||
setup(
|
||||
name='go1_gym',
|
||||
version='1.0.0',
|
||||
author='Gabriel Margolis',
|
||||
license="BSD-3-Clause",
|
||||
packages=find_packages(),
|
||||
author_email='gmargo@mit.edu',
|
||||
description='Toolkit for deployment of sim-to-real RL on the Unitree Go1.'
|
||||
)
|
||||
|
|
@ -1,154 +0,0 @@
|
|||
import lcm
|
||||
import threading
|
||||
import time
|
||||
import select
|
||||
|
||||
import numpy as np
|
||||
|
||||
from go1_gym_deploy.lcm_types.leg_control_data_lcmt import leg_control_data_lcmt
|
||||
from go1_gym_deploy.lcm_types.rc_command_lcmt import rc_command_lcmt
|
||||
from go1_gym_deploy.lcm_types.state_estimator_lcmt import state_estimator_lcmt
|
||||
from go1_gym_deploy.lcm_types.vicon_pose_lcmt import vicon_pose_lcmt
|
||||
from go1_gym_deploy.lcm_types.camera_message_lcmt import camera_message_lcmt
|
||||
from go1_gym_deploy.lcm_types.camera_message_rect_wide import camera_message_rect_wide
|
||||
from go1_gym_deploy.lcm_types.camera_message_rect_wide_mask import camera_message_rect_wide_mask
|
||||
|
||||
|
||||
class UnitreeLCMInspector:
|
||||
def __init__(self, lc):
|
||||
self.lc = lc
|
||||
|
||||
self.camera_names = ["front", "bottom", "left", "right", "rear"]
|
||||
for cam_name in self.camera_names:
|
||||
self.camera_subscription = self.lc.subscribe(f"rect_image_{cam_name}", self._rect_camera_cb)
|
||||
for cam_name in self.camera_names:
|
||||
self.camera_subscription = self.lc.subscribe(f"rect_image_{cam_name}_mask", self._mask_camera_cb)
|
||||
|
||||
self.camera_image_left = None
|
||||
self.camera_image_right = None
|
||||
self.camera_image_front = None
|
||||
self.camera_image_bottom = None
|
||||
self.camera_image_rear = None
|
||||
|
||||
self.ts = [time.time(), time.time(), time.time(), time.time(), time.time(),]
|
||||
|
||||
self.num_low_states = 0
|
||||
|
||||
def _rect_camera_cb(self, channel, data):
|
||||
|
||||
# message_types = [camera_message_rect_front, camera_message_rect_front_chin, camera_message_rect_left,
|
||||
# camera_message_rect_right, camera_message_rect_rear_down]
|
||||
# image_shapes = [(200, 200, 3), (100, 100, 3), (100, 232, 3), (100, 232, 3), (200, 200, 3)]
|
||||
|
||||
message_types = [camera_message_rect_wide, camera_message_rect_wide, camera_message_rect_wide, camera_message_rect_wide, camera_message_rect_wide]
|
||||
image_shapes = [(116, 100, 3), (116, 100, 3), (116, 100, 3), (116, 100, 3), (116, 100, 3)]
|
||||
|
||||
cam_name = channel.split("_")[-1]
|
||||
|
||||
cam_id = self.camera_names.index(cam_name) + 1
|
||||
|
||||
print(channel, message_types[cam_id - 1])
|
||||
msg = message_types[cam_id - 1].decode(data)
|
||||
|
||||
img = np.fromstring(msg.data, dtype=np.uint8)
|
||||
img = np.flip(np.flip(
|
||||
img.reshape((image_shapes[cam_id - 1][2], image_shapes[cam_id - 1][1], image_shapes[cam_id - 1][0])),
|
||||
axis=0), axis=1).transpose(1, 2, 0)
|
||||
|
||||
if cam_id == 1:
|
||||
self.camera_image_front = img
|
||||
elif cam_id == 2:
|
||||
self.camera_image_bottom = img
|
||||
elif cam_id == 3:
|
||||
self.camera_image_left = img
|
||||
elif cam_id == 4:
|
||||
self.camera_image_right = img
|
||||
elif cam_id == 5:
|
||||
self.camera_image_rear = img
|
||||
else:
|
||||
print("Image received from camera with unknown ID#!")
|
||||
|
||||
print(f"f{1. / (time.time() - self.ts[cam_id - 1])}: received py from {cam_name}!")
|
||||
self.ts[cam_id-1] = time.time()
|
||||
|
||||
from PIL import Image
|
||||
im = Image.fromarray(img)
|
||||
im.save(f"{cam_name}_image.jpeg")
|
||||
|
||||
def _mask_camera_cb(self, channel, data):
|
||||
|
||||
message_types = [camera_message_rect_wide_mask for i in range(5)]
|
||||
image_shapes = [(116, 100, 1) for i in range(5)]
|
||||
|
||||
cam_name = channel.split("_")[-2]
|
||||
|
||||
cam_id = self.camera_names.index(cam_name) + 1
|
||||
|
||||
print(channel, message_types[cam_id - 1])
|
||||
msg = message_types[cam_id - 1].decode(data)
|
||||
|
||||
img = np.array(list(msg.data)).astype(np.uint8)
|
||||
img = np.flip(np.flip(
|
||||
img.reshape((image_shapes[cam_id - 1][2], image_shapes[cam_id - 1][1], image_shapes[cam_id - 1][0])),
|
||||
axis=0), axis=1)
|
||||
|
||||
if cam_id == 1:
|
||||
self.camera_image_front = img
|
||||
elif cam_id == 2:
|
||||
self.camera_image_bottom = img
|
||||
elif cam_id == 3:
|
||||
self.camera_image_left = img
|
||||
elif cam_id == 4:
|
||||
self.camera_image_right = img
|
||||
elif cam_id == 5:
|
||||
self.camera_image_rear = img
|
||||
else:
|
||||
print("Image received from camera with unknown ID#!")
|
||||
|
||||
print(f"f{1. / (time.time() - self.ts[cam_id - 1])}: received py from {cam_name}!")
|
||||
self.ts[cam_id-1] = time.time()
|
||||
|
||||
from PIL import Image
|
||||
# print(img[0])
|
||||
im = Image.fromarray(img[0])
|
||||
im.save(f"{cam_name}_mask_image.jpeg")
|
||||
|
||||
def publish_30Hz(self):
|
||||
msg = camera_message_rect_wide()
|
||||
msg.data = [0] * 34800
|
||||
self.lc.publish("rect_image_rear", msg.encode())
|
||||
time.sleep(1./30.)
|
||||
|
||||
def poll(self, cb=None):
|
||||
t = time.time()
|
||||
try:
|
||||
while True:
|
||||
timeout = 0.01
|
||||
rfds, wfds, efds = select.select([self.lc.fileno()], [], [], timeout)
|
||||
if rfds:
|
||||
# print("message received!")
|
||||
self.lc.handle()
|
||||
# print(f'Freq {1. / (time.time() - t)} Hz'); t = time.time()
|
||||
else:
|
||||
continue
|
||||
# print(f'waiting for message... Freq {1. / (time.time() - t)} Hz'); t = time.time()
|
||||
# if cb is not None:
|
||||
# cb()
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
|
||||
def spin(self):
|
||||
self.run_thread = threading.Thread(target=self.poll, daemon=False)
|
||||
self.run_thread.start()
|
||||
|
||||
if __name__ == "__main__":
|
||||
import lcm
|
||||
|
||||
lc = lcm.LCM("udpm://239.255.76.67:7667?ttl=255")
|
||||
#check_lcm_msgs()
|
||||
print("init")
|
||||
insp = UnitreeLCMInspector(lc)
|
||||
print("polling")
|
||||
# insp.poll()
|
||||
while True:
|
||||
insp.publish_30Hz()
|
||||
Binary file not shown.
|
|
@ -1,236 +0,0 @@
|
|||
/*****************************************************************
|
||||
Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
|
||||
******************************************************************/
|
||||
|
||||
#include "unitree_legged_sdk/unitree_legged_sdk.h"
|
||||
#include "unitree_legged_sdk/joystick.h"
|
||||
#include <math.h>
|
||||
#include <iostream>
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <thread>
|
||||
#include <lcm/lcm-cpp.hpp>
|
||||
#include "state_estimator_lcmt.hpp"
|
||||
#include "leg_control_data_lcmt.hpp"
|
||||
#include "pd_tau_targets_lcmt.hpp"
|
||||
#include "rc_command_lcmt.hpp"
|
||||
|
||||
using namespace std;
|
||||
using namespace UNITREE_LEGGED_SDK;
|
||||
|
||||
class Custom
|
||||
{
|
||||
public:
|
||||
Custom(uint8_t level): safe(LeggedType::Go1), udp(level, 8090, "192.168.123.10", 8007) {
|
||||
udp.InitCmdData(cmd);
|
||||
}
|
||||
void UDPRecv();
|
||||
void UDPSend();
|
||||
void RobotControl();
|
||||
void init();
|
||||
void handleActionLCM(const lcm::ReceiveBuffer *rbuf, const std::string & chan, const pd_tau_targets_lcmt * msg);
|
||||
void _simpleLCMThread();
|
||||
|
||||
Safety safe;
|
||||
UDP udp;
|
||||
LowCmd cmd = {0};
|
||||
LowState state = {0};
|
||||
float qInit[3]={0};
|
||||
float qDes[3]={0};
|
||||
float sin_mid_q[3] = {0.0, 1.2, -2.0};
|
||||
float Kp[3] = {0};
|
||||
float Kd[3] = {0};
|
||||
double time_consume = 0;
|
||||
int rate_count = 0;
|
||||
int sin_count = 0;
|
||||
int motiontime = 0;
|
||||
float dt = 0.002; // 0.001~0.01
|
||||
|
||||
lcm::LCM _simpleLCM;
|
||||
std::thread _simple_LCM_thread;
|
||||
bool _firstCommandReceived;
|
||||
bool _firstRun;
|
||||
state_estimator_lcmt body_state_simple = {0};
|
||||
leg_control_data_lcmt joint_state_simple = {0};
|
||||
pd_tau_targets_lcmt joint_command_simple = {0};
|
||||
rc_command_lcmt rc_command = {0};
|
||||
|
||||
xRockerBtnDataStruct _keyData;
|
||||
int mode = 0;
|
||||
|
||||
};
|
||||
|
||||
void Custom::init()
|
||||
{
|
||||
_simpleLCM.subscribe("pd_plustau_targets", &Custom::handleActionLCM, this);
|
||||
_simple_LCM_thread = std::thread(&Custom::_simpleLCMThread, this);
|
||||
|
||||
_firstCommandReceived = false;
|
||||
_firstRun = true;
|
||||
|
||||
// set nominal pose
|
||||
|
||||
for(int i = 0; i < 12; i++){
|
||||
joint_command_simple.qd_des[i] = 0;
|
||||
joint_command_simple.tau_ff[i] = 0;
|
||||
joint_command_simple.kp[i] = 20.;
|
||||
joint_command_simple.kd[i] = 0.5;
|
||||
}
|
||||
|
||||
joint_command_simple.q_des[0] = -0.3;
|
||||
joint_command_simple.q_des[1] = 1.2;
|
||||
joint_command_simple.q_des[2] = -2.721;
|
||||
joint_command_simple.q_des[3] = 0.3;
|
||||
joint_command_simple.q_des[4] = 1.2;
|
||||
joint_command_simple.q_des[5] = -2.721;
|
||||
joint_command_simple.q_des[6] = -0.3;
|
||||
joint_command_simple.q_des[7] = 1.2;
|
||||
joint_command_simple.q_des[8] = -2.721;
|
||||
joint_command_simple.q_des[9] = 0.3;
|
||||
joint_command_simple.q_des[10] = 1.2;
|
||||
joint_command_simple.q_des[11] = -2.721;
|
||||
|
||||
printf("SET NOMINAL POSE");
|
||||
|
||||
|
||||
}
|
||||
|
||||
void Custom::UDPRecv()
|
||||
{
|
||||
udp.Recv();
|
||||
}
|
||||
|
||||
void Custom::UDPSend()
|
||||
{
|
||||
udp.Send();
|
||||
}
|
||||
|
||||
double jointLinearInterpolation(double initPos, double targetPos, double rate)
|
||||
{
|
||||
double p;
|
||||
rate = std::min(std::max(rate, 0.0), 1.0);
|
||||
p = initPos*(1-rate) + targetPos*rate;
|
||||
return p;
|
||||
}
|
||||
|
||||
void Custom::handleActionLCM(const lcm::ReceiveBuffer *rbuf, const std::string & chan, const pd_tau_targets_lcmt * msg){
|
||||
(void) rbuf;
|
||||
(void) chan;
|
||||
|
||||
joint_command_simple = *msg;
|
||||
_firstCommandReceived = true;
|
||||
|
||||
}
|
||||
|
||||
void Custom::_simpleLCMThread(){
|
||||
while(true){
|
||||
_simpleLCM.handle();
|
||||
}
|
||||
}
|
||||
|
||||
void Custom::RobotControl()
|
||||
{
|
||||
motiontime++;
|
||||
udp.GetRecv(state);
|
||||
|
||||
memcpy(&_keyData, &state.wirelessRemote[0], 40);
|
||||
|
||||
rc_command.left_stick[0] = _keyData.lx;
|
||||
rc_command.left_stick[1] = _keyData.ly;
|
||||
rc_command.right_stick[0] = _keyData.rx;
|
||||
rc_command.right_stick[1] = _keyData.ry;
|
||||
rc_command.right_lower_right_switch = _keyData.btn.components.R2;
|
||||
rc_command.right_upper_switch = _keyData.btn.components.R1;
|
||||
rc_command.left_lower_left_switch = _keyData.btn.components.L2;
|
||||
rc_command.left_upper_switch = _keyData.btn.components.L1;
|
||||
|
||||
|
||||
if(_keyData.btn.components.A > 0){
|
||||
mode = 0;
|
||||
} else if(_keyData.btn.components.B > 0){
|
||||
mode = 1;
|
||||
}else if(_keyData.btn.components.X > 0){
|
||||
mode = 2;
|
||||
}else if(_keyData.btn.components.Y > 0){
|
||||
mode = 3;
|
||||
}else if(_keyData.btn.components.up > 0){
|
||||
mode = 4;
|
||||
}else if(_keyData.btn.components.right > 0){
|
||||
mode = 5;
|
||||
}else if(_keyData.btn.components.down > 0){
|
||||
mode = 6;
|
||||
}else if(_keyData.btn.components.left > 0){
|
||||
mode = 7;
|
||||
}
|
||||
|
||||
rc_command.mode = mode;
|
||||
|
||||
|
||||
// publish state to LCM
|
||||
for(int i = 0; i < 12; i++){
|
||||
joint_state_simple.q[i] = state.motorState[i].q;
|
||||
joint_state_simple.qd[i] = state.motorState[i].dq;
|
||||
joint_state_simple.tau_est[i] = state.motorState[i].tauEst;
|
||||
}
|
||||
for(int i = 0; i < 4; i++){
|
||||
body_state_simple.quat[i] = state.imu.quaternion[i];
|
||||
}
|
||||
for(int i = 0; i < 3; i++){
|
||||
body_state_simple.rpy[i] = state.imu.rpy[i];
|
||||
body_state_simple.aBody[i] = state.imu.accelerometer[i];
|
||||
body_state_simple.omegaBody[i] = state.imu.gyroscope[i];
|
||||
}
|
||||
for(int i = 0; i < 4; i++){
|
||||
body_state_simple.contact_estimate[i] = state.footForce[i];
|
||||
}
|
||||
|
||||
_simpleLCM.publish("state_estimator_data", &body_state_simple);
|
||||
_simpleLCM.publish("leg_control_data", &joint_state_simple);
|
||||
_simpleLCM.publish("rc_command", &rc_command);
|
||||
|
||||
if(_firstRun && joint_state_simple.q[0] != 0){
|
||||
for(int i = 0; i < 12; i++){
|
||||
joint_command_simple.q_des[i] = joint_state_simple.q[i];
|
||||
}
|
||||
_firstRun = false;
|
||||
}
|
||||
|
||||
for(int i = 0; i < 12; i++){
|
||||
cmd.motorCmd[i].q = joint_command_simple.q_des[i];
|
||||
cmd.motorCmd[i].dq = joint_command_simple.qd_des[i];
|
||||
cmd.motorCmd[i].Kp = joint_command_simple.kp[i];
|
||||
cmd.motorCmd[i].Kd = joint_command_simple.kd[i];
|
||||
cmd.motorCmd[i].tau = joint_command_simple.tau_ff[i];
|
||||
}
|
||||
|
||||
safe.PositionLimit(cmd);
|
||||
int res1 = safe.PowerProtect(cmd, state, 9);
|
||||
udp.SetSend(cmd);
|
||||
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
std::cout << "Communication level is set to LOW-level." << std::endl
|
||||
<< "WARNING: Make sure the robot is hung up." << std::endl
|
||||
<< "Press Enter to continue..." << std::endl;
|
||||
std::cin.ignore();
|
||||
|
||||
Custom custom(LOWLEVEL);
|
||||
custom.init();
|
||||
// InitEnvironment();
|
||||
LoopFunc loop_control("control_loop", custom.dt, boost::bind(&Custom::RobotControl, &custom));
|
||||
LoopFunc loop_udpSend("udp_send", custom.dt, 3, boost::bind(&Custom::UDPSend, &custom));
|
||||
LoopFunc loop_udpRecv("udp_recv", custom.dt, 3, boost::bind(&Custom::UDPRecv, &custom));
|
||||
|
||||
loop_udpSend.start();
|
||||
loop_udpRecv.start();
|
||||
loop_control.start();
|
||||
|
||||
while(1){
|
||||
sleep(10);
|
||||
};
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -1,406 +0,0 @@
|
|||
import math
|
||||
import select
|
||||
import threading
|
||||
import time
|
||||
|
||||
import numpy as np
|
||||
|
||||
from go1_gym_deploy.lcm_types.leg_control_data_lcmt import leg_control_data_lcmt
|
||||
from go1_gym_deploy.lcm_types.rc_command_lcmt import rc_command_lcmt
|
||||
from go1_gym_deploy.lcm_types.state_estimator_lcmt import state_estimator_lcmt
|
||||
from go1_gym_deploy.lcm_types.camera_message_lcmt import camera_message_lcmt
|
||||
from go1_gym_deploy.lcm_types.camera_message_rect_wide import camera_message_rect_wide
|
||||
|
||||
|
||||
def get_rpy_from_quaternion(q):
|
||||
w, x, y, z = q
|
||||
r = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x ** 2 + y ** 2))
|
||||
p = np.arcsin(2 * (w * y - z * x))
|
||||
y = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y ** 2 + z ** 2))
|
||||
return np.array([r, p, y])
|
||||
|
||||
|
||||
def get_rotation_matrix_from_rpy(rpy):
|
||||
"""
|
||||
Get rotation matrix from the given quaternion.
|
||||
Args:
|
||||
q (np.array[float[4]]): quaternion [w,x,y,z]
|
||||
Returns:
|
||||
np.array[float[3,3]]: rotation matrix.
|
||||
"""
|
||||
r, p, y = rpy
|
||||
R_x = np.array([[1, 0, 0],
|
||||
[0, math.cos(r), -math.sin(r)],
|
||||
[0, math.sin(r), math.cos(r)]
|
||||
])
|
||||
|
||||
R_y = np.array([[math.cos(p), 0, math.sin(p)],
|
||||
[0, 1, 0],
|
||||
[-math.sin(p), 0, math.cos(p)]
|
||||
])
|
||||
|
||||
R_z = np.array([[math.cos(y), -math.sin(y), 0],
|
||||
[math.sin(y), math.cos(y), 0],
|
||||
[0, 0, 1]
|
||||
])
|
||||
|
||||
rot = np.dot(R_z, np.dot(R_y, R_x))
|
||||
return rot
|
||||
|
||||
|
||||
class StateEstimator:
|
||||
def __init__(self, lc, use_cameras=True):
|
||||
|
||||
# reverse legs
|
||||
self.joint_idxs = [3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8]
|
||||
self.contact_idxs = [1, 0, 3, 2]
|
||||
# self.joint_idxs = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
|
||||
|
||||
self.lc = lc
|
||||
|
||||
self.joint_pos = np.zeros(12)
|
||||
self.joint_vel = np.zeros(12)
|
||||
self.tau_est = np.zeros(12)
|
||||
self.world_lin_vel = np.zeros(3)
|
||||
self.world_ang_vel = np.zeros(3)
|
||||
self.euler = np.zeros(3)
|
||||
self.R = np.eye(3)
|
||||
self.buf_idx = 0
|
||||
|
||||
self.smoothing_length = 12
|
||||
self.deuler_history = np.zeros((self.smoothing_length, 3))
|
||||
self.dt_history = np.zeros((self.smoothing_length, 1))
|
||||
self.euler_prev = np.zeros(3)
|
||||
self.timuprev = time.time()
|
||||
|
||||
self.body_lin_vel = np.zeros(3)
|
||||
self.body_ang_vel = np.zeros(3)
|
||||
self.smoothing_ratio = 0.2
|
||||
|
||||
self.contact_state = np.ones(4)
|
||||
|
||||
self.mode = 0
|
||||
self.ctrlmode_left = 0
|
||||
self.ctrlmode_right = 0
|
||||
self.left_stick = [0, 0]
|
||||
self.right_stick = [0, 0]
|
||||
self.left_upper_switch = 0
|
||||
self.left_lower_left_switch = 0
|
||||
self.left_lower_right_switch = 0
|
||||
self.right_upper_switch = 0
|
||||
self.right_lower_left_switch = 0
|
||||
self.right_lower_right_switch = 0
|
||||
self.left_upper_switch_pressed = 0
|
||||
self.left_lower_left_switch_pressed = 0
|
||||
self.left_lower_right_switch_pressed = 0
|
||||
self.right_upper_switch_pressed = 0
|
||||
self.right_lower_left_switch_pressed = 0
|
||||
self.right_lower_right_switch_pressed = 0
|
||||
|
||||
# default trotting gait
|
||||
self.cmd_freq = 3.0
|
||||
self.cmd_phase = 0.5
|
||||
self.cmd_offset = 0.0
|
||||
self.cmd_duration = 0.5
|
||||
|
||||
|
||||
self.init_time = time.time()
|
||||
self.received_first_legdata = False
|
||||
|
||||
self.imu_subscription = self.lc.subscribe("state_estimator_data", self._imu_cb)
|
||||
self.legdata_state_subscription = self.lc.subscribe("leg_control_data", self._legdata_cb)
|
||||
self.rc_command_subscription = self.lc.subscribe("rc_command", self._rc_command_cb)
|
||||
|
||||
if use_cameras:
|
||||
for cam_id in [1, 2, 3, 4, 5]:
|
||||
self.camera_subscription = self.lc.subscribe(f"camera{cam_id}", self._camera_cb)
|
||||
self.camera_names = ["front", "bottom", "left", "right", "rear"]
|
||||
for cam_name in self.camera_names:
|
||||
self.camera_subscription = self.lc.subscribe(f"rect_image_{cam_name}", self._rect_camera_cb)
|
||||
self.camera_image_left = None
|
||||
self.camera_image_right = None
|
||||
self.camera_image_front = None
|
||||
self.camera_image_bottom = None
|
||||
self.camera_image_rear = None
|
||||
|
||||
self.body_loc = np.array([0, 0, 0])
|
||||
self.body_quat = np.array([0, 0, 0, 1])
|
||||
|
||||
def get_body_linear_vel(self):
|
||||
self.body_lin_vel = np.dot(self.R.T, self.world_lin_vel)
|
||||
return self.body_lin_vel
|
||||
|
||||
def get_body_angular_vel(self):
|
||||
self.body_ang_vel = self.smoothing_ratio * np.mean(self.deuler_history / self.dt_history, axis=0) + (
|
||||
1 - self.smoothing_ratio) * self.body_ang_vel
|
||||
return self.body_ang_vel
|
||||
|
||||
def get_gravity_vector(self):
|
||||
grav = np.dot(self.R.T, np.array([0, 0, -1]))
|
||||
return grav
|
||||
|
||||
def get_contact_state(self):
|
||||
return self.contact_state[self.contact_idxs]
|
||||
|
||||
def get_rpy(self):
|
||||
return self.euler
|
||||
|
||||
def get_command(self):
|
||||
MODES_LEFT = ["body_height", "lat_vel", "stance_width"]
|
||||
MODES_RIGHT = ["step_frequency", "footswing_height", "body_pitch"]
|
||||
|
||||
if self.left_upper_switch_pressed:
|
||||
self.ctrlmode_left = (self.ctrlmode_left + 1) % 3
|
||||
self.left_upper_switch_pressed = False
|
||||
if self.right_upper_switch_pressed:
|
||||
self.ctrlmode_right = (self.ctrlmode_right + 1) % 3
|
||||
self.right_upper_switch_pressed = False
|
||||
|
||||
MODE_LEFT = MODES_LEFT[self.ctrlmode_left]
|
||||
MODE_RIGHT = MODES_RIGHT[self.ctrlmode_right]
|
||||
|
||||
# always in use
|
||||
cmd_x = 1 * self.left_stick[1]
|
||||
cmd_yaw = -1 * self.right_stick[0]
|
||||
|
||||
# default values
|
||||
cmd_y = 0. # -1 * self.left_stick[0]
|
||||
cmd_height = 0.
|
||||
cmd_footswing = 0.08
|
||||
cmd_stance_width = 0.33
|
||||
cmd_stance_length = 0.40
|
||||
cmd_ori_pitch = 0.
|
||||
cmd_ori_roll = 0.
|
||||
cmd_freq = 3.0
|
||||
|
||||
# joystick commands
|
||||
if MODE_LEFT == "body_height":
|
||||
cmd_height = 0.3 * self.left_stick[0]
|
||||
elif MODE_LEFT == "lat_vel":
|
||||
cmd_y = 0.6 * self.left_stick[0]
|
||||
elif MODE_LEFT == "stance_width":
|
||||
cmd_stance_width = 0.275 + 0.175 * self.left_stick[0]
|
||||
if MODE_RIGHT == "step_frequency":
|
||||
min_freq = 2.0
|
||||
max_freq = 4.0
|
||||
cmd_freq = (1 + self.right_stick[1]) / 2 * (max_freq - min_freq) + min_freq
|
||||
elif MODE_RIGHT == "footswing_height":
|
||||
cmd_footswing = max(0, self.right_stick[1]) * 0.32 + 0.03
|
||||
elif MODE_RIGHT == "body_pitch":
|
||||
cmd_ori_pitch = -0.4 * self.right_stick[1]
|
||||
|
||||
# gait buttons
|
||||
if self.mode == 0:
|
||||
self.cmd_phase = 0.5
|
||||
self.cmd_offset = 0.0
|
||||
self.cmd_bound = 0.0
|
||||
self.cmd_duration = 0.5
|
||||
elif self.mode == 1:
|
||||
self.cmd_phase = 0.0
|
||||
self.cmd_offset = 0.0
|
||||
self.cmd_bound = 0.0
|
||||
self.cmd_duration = 0.5
|
||||
elif self.mode == 2:
|
||||
self.cmd_phase = 0.0
|
||||
self.cmd_offset = 0.5
|
||||
self.cmd_bound = 0.0
|
||||
self.cmd_duration = 0.5
|
||||
elif self.mode == 3:
|
||||
self.cmd_phase = 0.0
|
||||
self.cmd_offset = 0.0
|
||||
self.cmd_bound = 0.5
|
||||
self.cmd_duration = 0.5
|
||||
else:
|
||||
self.cmd_phase = 0.5
|
||||
self.cmd_offset = 0.0
|
||||
self.cmd_bound = 0.0
|
||||
self.cmd_duration = 0.5
|
||||
|
||||
return np.array([cmd_x, cmd_y, cmd_yaw, cmd_height, cmd_freq, self.cmd_phase, self.cmd_offset, self.cmd_bound,
|
||||
self.cmd_duration, cmd_footswing, cmd_ori_pitch, cmd_ori_roll, cmd_stance_width,
|
||||
cmd_stance_length, 0, 0, 0, 0, 0])
|
||||
|
||||
def get_buttons(self):
|
||||
return np.array([self.left_lower_left_switch, self.left_upper_switch, self.right_lower_right_switch, self.right_upper_switch])
|
||||
|
||||
def get_dof_pos(self):
|
||||
# print("dofposquery", self.joint_pos[self.joint_idxs])
|
||||
return self.joint_pos[self.joint_idxs]
|
||||
|
||||
def get_dof_vel(self):
|
||||
return self.joint_vel[self.joint_idxs]
|
||||
|
||||
def get_tau_est(self):
|
||||
return self.tau_est[self.joint_idxs]
|
||||
|
||||
def get_yaw(self):
|
||||
return self.euler[2]
|
||||
|
||||
def get_body_loc(self):
|
||||
return np.array(self.body_loc)
|
||||
|
||||
def get_body_quat(self):
|
||||
return np.array(self.body_quat)
|
||||
|
||||
def get_camera_front(self):
|
||||
return self.camera_image_front
|
||||
|
||||
def get_camera_bottom(self):
|
||||
return self.camera_image_bottom
|
||||
|
||||
def get_camera_rear(self):
|
||||
return self.camera_image_rear
|
||||
|
||||
def get_camera_left(self):
|
||||
return self.camera_image_left
|
||||
|
||||
def get_camera_right(self):
|
||||
return self.camera_image_right
|
||||
|
||||
def _legdata_cb(self, channel, data):
|
||||
# print("update legdata")
|
||||
if not self.received_first_legdata:
|
||||
self.received_first_legdata = True
|
||||
print(f"First legdata: {time.time() - self.init_time}")
|
||||
|
||||
msg = leg_control_data_lcmt.decode(data)
|
||||
# print(msg.q)
|
||||
self.joint_pos = np.array(msg.q)
|
||||
self.joint_vel = np.array(msg.qd)
|
||||
self.tau_est = np.array(msg.tau_est)
|
||||
# print(f"update legdata {msg.id}")
|
||||
|
||||
def _imu_cb(self, channel, data):
|
||||
# print("update imu")
|
||||
msg = state_estimator_lcmt.decode(data)
|
||||
|
||||
self.euler = np.array(msg.rpy)
|
||||
|
||||
self.R = get_rotation_matrix_from_rpy(self.euler)
|
||||
|
||||
self.contact_state = 1.0 * (np.array(msg.contact_estimate) > 200)
|
||||
|
||||
self.deuler_history[self.buf_idx % self.smoothing_length, :] = msg.rpy - self.euler_prev
|
||||
self.dt_history[self.buf_idx % self.smoothing_length] = time.time() - self.timuprev
|
||||
|
||||
self.timuprev = time.time()
|
||||
|
||||
self.buf_idx += 1
|
||||
self.euler_prev = np.array(msg.rpy)
|
||||
|
||||
def _sensor_cb(self, channel, data):
|
||||
pass
|
||||
|
||||
def _rc_command_cb(self, channel, data):
|
||||
|
||||
msg = rc_command_lcmt.decode(data)
|
||||
|
||||
|
||||
self.left_upper_switch_pressed = ((msg.left_upper_switch and not self.left_upper_switch) or self.left_upper_switch_pressed)
|
||||
self.left_lower_left_switch_pressed = ((msg.left_lower_left_switch and not self.left_lower_left_switch) or self.left_lower_left_switch_pressed)
|
||||
self.left_lower_right_switch_pressed = ((msg.left_lower_right_switch and not self.left_lower_right_switch) or self.left_lower_right_switch_pressed)
|
||||
self.right_upper_switch_pressed = ((msg.right_upper_switch and not self.right_upper_switch) or self.right_upper_switch_pressed)
|
||||
self.right_lower_left_switch_pressed = ((msg.right_lower_left_switch and not self.right_lower_left_switch) or self.right_lower_left_switch_pressed)
|
||||
self.right_lower_right_switch_pressed = ((msg.right_lower_right_switch and not self.right_lower_right_switch) or self.right_lower_right_switch_pressed)
|
||||
|
||||
self.mode = msg.mode
|
||||
self.right_stick = msg.right_stick
|
||||
self.left_stick = msg.left_stick
|
||||
self.left_upper_switch = msg.left_upper_switch
|
||||
self.left_lower_left_switch = msg.left_lower_left_switch
|
||||
self.left_lower_right_switch = msg.left_lower_right_switch
|
||||
self.right_upper_switch = msg.right_upper_switch
|
||||
self.right_lower_left_switch = msg.right_lower_left_switch
|
||||
self.right_lower_right_switch = msg.right_lower_right_switch
|
||||
|
||||
# print(self.right_stick, self.left_stick)
|
||||
|
||||
def _camera_cb(self, channel, data):
|
||||
msg = camera_message_lcmt.decode(data)
|
||||
|
||||
img = np.fromstring(msg.data, dtype=np.uint8)
|
||||
img = img.reshape((3, 200, 464)).transpose(1, 2, 0)
|
||||
|
||||
cam_id = int(channel[-1])
|
||||
if cam_id == 1:
|
||||
self.camera_image_front = img
|
||||
elif cam_id == 2:
|
||||
self.camera_image_bottom = img
|
||||
elif cam_id == 3:
|
||||
self.camera_image_left = img
|
||||
elif cam_id == 4:
|
||||
self.camera_image_right = img
|
||||
elif cam_id == 5:
|
||||
self.camera_image_rear = img
|
||||
else:
|
||||
print("Image received from camera with unknown ID#!")
|
||||
|
||||
#im = Image.fromarray(img).convert('RGB')
|
||||
|
||||
#im.save("test_image_" + channel + ".jpg")
|
||||
#print(channel)
|
||||
|
||||
def _rect_camera_cb(self, channel, data):
|
||||
message_types = [camera_message_rect_wide, camera_message_rect_wide, camera_message_rect_wide,
|
||||
camera_message_rect_wide, camera_message_rect_wide]
|
||||
image_shapes = [(116, 100, 3), (116, 100, 3), (116, 100, 3), (116, 100, 3), (116, 100, 3)]
|
||||
|
||||
cam_name = channel.split("_")[-1]
|
||||
# print(f"received py from {cam_name}")
|
||||
cam_id = self.camera_names.index(cam_name) + 1
|
||||
|
||||
msg = message_types[cam_id - 1].decode(data)
|
||||
|
||||
img = np.fromstring(msg.data, dtype=np.uint8)
|
||||
img = np.flip(np.flip(
|
||||
img.reshape((image_shapes[cam_id - 1][2], image_shapes[cam_id - 1][1], image_shapes[cam_id - 1][0])),
|
||||
axis=0), axis=1).transpose(1, 2, 0)
|
||||
# print(img.shape)
|
||||
# img = np.flip(np.flip(img.reshape(image_shapes[cam_id - 1]), axis=0), axis=1)[:, :,
|
||||
# [2, 1, 0]] # .transpose(1, 2, 0)
|
||||
|
||||
if cam_id == 1:
|
||||
self.camera_image_front = img
|
||||
elif cam_id == 2:
|
||||
self.camera_image_bottom = img
|
||||
elif cam_id == 3:
|
||||
self.camera_image_left = img
|
||||
elif cam_id == 4:
|
||||
self.camera_image_right = img
|
||||
elif cam_id == 5:
|
||||
self.camera_image_rear = img
|
||||
else:
|
||||
print("Image received from camera with unknown ID#!")
|
||||
|
||||
def poll(self, cb=None):
|
||||
t = time.time()
|
||||
try:
|
||||
while True:
|
||||
timeout = 0.01
|
||||
rfds, wfds, efds = select.select([self.lc.fileno()], [], [], timeout)
|
||||
if rfds:
|
||||
# print("message received!")
|
||||
self.lc.handle()
|
||||
# print(f'Freq {1. / (time.time() - t)} Hz'); t = time.time()
|
||||
else:
|
||||
continue
|
||||
# print(f'waiting for message... Freq {1. / (time.time() - t)} Hz'); t = time.time()
|
||||
# if cb is not None:
|
||||
# cb()
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
|
||||
def spin(self):
|
||||
self.run_thread = threading.Thread(target=self.poll, daemon=False)
|
||||
self.run_thread.start()
|
||||
|
||||
def close(self):
|
||||
self.lc.unsubscribe(self.legdata_state_subscription)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import lcm
|
||||
|
||||
lc = lcm.LCM("udpm://239.255.76.67:7667?ttl=255")
|
||||
se = StateEstimator(lc)
|
||||
se.poll()
|
||||
|
|
@ -1,231 +0,0 @@
|
|||
import torch
|
||||
|
||||
|
||||
class CommandProfile:
|
||||
def __init__(self, dt, max_time_s=10.):
|
||||
self.dt = dt
|
||||
self.max_timestep = int(max_time_s / self.dt)
|
||||
self.commands = torch.zeros((self.max_timestep, 9))
|
||||
self.start_time = 0
|
||||
|
||||
def get_command(self, t):
|
||||
timestep = int((t - self.start_time) / self.dt)
|
||||
timestep = min(timestep, self.max_timestep - 1)
|
||||
return self.commands[timestep, :]
|
||||
|
||||
def get_buttons(self):
|
||||
return [0, 0, 0, 0]
|
||||
|
||||
def reset(self, reset_time):
|
||||
self.start_time = reset_time
|
||||
|
||||
|
||||
class ConstantAccelerationProfile(CommandProfile):
|
||||
def __init__(self, dt, max_speed, accel_time, zero_buf_time=0):
|
||||
super().__init__(dt)
|
||||
zero_buf_timesteps = int(zero_buf_time / self.dt)
|
||||
accel_timesteps = int(accel_time / self.dt)
|
||||
self.commands[:zero_buf_timesteps] = 0
|
||||
self.commands[zero_buf_timesteps:zero_buf_timesteps + accel_timesteps, 0] = torch.arange(0, max_speed,
|
||||
step=max_speed / accel_timesteps)
|
||||
self.commands[zero_buf_timesteps + accel_timesteps:, 0] = max_speed
|
||||
|
||||
|
||||
class ElegantForwardProfile(CommandProfile):
|
||||
def __init__(self, dt, max_speed, accel_time, duration, deaccel_time, zero_buf_time=0):
|
||||
import numpy as np
|
||||
|
||||
zero_buf_timesteps = int(zero_buf_time / dt)
|
||||
accel_timesteps = int(accel_time / dt)
|
||||
duration_timesteps = int(duration / dt)
|
||||
deaccel_timesteps = int(deaccel_time / dt)
|
||||
|
||||
total_time_s = zero_buf_time + accel_time + duration + deaccel_time
|
||||
|
||||
super().__init__(dt, total_time_s)
|
||||
|
||||
x_vel_cmds = [0] * zero_buf_timesteps + [*np.linspace(0, max_speed, accel_timesteps)] + \
|
||||
[max_speed] * duration_timesteps + [*np.linspace(max_speed, 0, deaccel_timesteps)]
|
||||
|
||||
self.commands[:len(x_vel_cmds), 0] = torch.Tensor(x_vel_cmds)
|
||||
|
||||
|
||||
class ElegantYawProfile(CommandProfile):
|
||||
def __init__(self, dt, max_speed, zero_buf_time, accel_time, duration, deaccel_time, yaw_rate):
|
||||
import numpy as np
|
||||
|
||||
zero_buf_timesteps = int(zero_buf_time / dt)
|
||||
accel_timesteps = int(accel_time / dt)
|
||||
duration_timesteps = int(duration / dt)
|
||||
deaccel_timesteps = int(deaccel_time / dt)
|
||||
|
||||
total_time_s = zero_buf_time + accel_time + duration + deaccel_time
|
||||
|
||||
super().__init__(dt, total_time_s)
|
||||
|
||||
x_vel_cmds = [0] * zero_buf_timesteps + [*np.linspace(0, max_speed, accel_timesteps)] + \
|
||||
[max_speed] * duration_timesteps + [*np.linspace(max_speed, 0, deaccel_timesteps)]
|
||||
|
||||
yaw_vel_cmds = [0] * zero_buf_timesteps + [0] * accel_timesteps + \
|
||||
[yaw_rate] * duration_timesteps + [0] * deaccel_timesteps
|
||||
|
||||
self.commands[:len(x_vel_cmds), 0] = torch.Tensor(x_vel_cmds)
|
||||
self.commands[:len(yaw_vel_cmds), 2] = torch.Tensor(yaw_vel_cmds)
|
||||
|
||||
|
||||
class ElegantGaitProfile(CommandProfile):
|
||||
def __init__(self, dt, filename):
|
||||
import numpy as np
|
||||
import json
|
||||
|
||||
with open(f'../command_profiles/{filename}', 'r') as file:
|
||||
command_sequence = json.load(file)
|
||||
|
||||
len_command_sequence = len(command_sequence["x_vel_cmd"])
|
||||
total_time_s = int(len_command_sequence / dt)
|
||||
|
||||
super().__init__(dt, total_time_s)
|
||||
|
||||
self.commands[:len_command_sequence, 0] = torch.Tensor(command_sequence["x_vel_cmd"])
|
||||
self.commands[:len_command_sequence, 2] = torch.Tensor(command_sequence["yaw_vel_cmd"])
|
||||
self.commands[:len_command_sequence, 3] = torch.Tensor(command_sequence["height_cmd"])
|
||||
self.commands[:len_command_sequence, 4] = torch.Tensor(command_sequence["frequency_cmd"])
|
||||
self.commands[:len_command_sequence, 5] = torch.Tensor(command_sequence["offset_cmd"])
|
||||
self.commands[:len_command_sequence, 6] = torch.Tensor(command_sequence["phase_cmd"])
|
||||
self.commands[:len_command_sequence, 7] = torch.Tensor(command_sequence["bound_cmd"])
|
||||
self.commands[:len_command_sequence, 8] = torch.Tensor(command_sequence["duration_cmd"])
|
||||
|
||||
class RCControllerProfile(CommandProfile):
|
||||
def __init__(self, dt, state_estimator, x_scale=1.0, y_scale=1.0, yaw_scale=1.0, probe_vel_multiplier=1.0):
|
||||
super().__init__(dt)
|
||||
self.state_estimator = state_estimator
|
||||
self.x_scale = x_scale
|
||||
self.y_scale = y_scale
|
||||
self.yaw_scale = yaw_scale
|
||||
|
||||
self.probe_vel_multiplier = probe_vel_multiplier
|
||||
|
||||
self.triggered_commands = {i: None for i in range(4)} # command profiles for each action button on the controller
|
||||
self.currently_triggered = [0, 0, 0, 0]
|
||||
self.button_states = [0, 0, 0, 0]
|
||||
|
||||
def get_command(self, t, probe=False):
|
||||
|
||||
command = self.state_estimator.get_command()
|
||||
command[0] = command[0] * self.x_scale
|
||||
command[1] = command[1] * self.y_scale
|
||||
command[2] = command[2] * self.yaw_scale
|
||||
|
||||
reset_timer = False
|
||||
|
||||
if probe:
|
||||
command[0] = command[0] * self.probe_vel_multiplier
|
||||
command[2] = command[2] * self.probe_vel_multiplier
|
||||
|
||||
# check for action buttons
|
||||
prev_button_states = self.button_states[:]
|
||||
self.button_states = self.state_estimator.get_buttons()
|
||||
for button in range(4):
|
||||
if self.triggered_commands[button] is not None:
|
||||
if self.button_states[button] == 1 and prev_button_states[button] == 0:
|
||||
if not self.currently_triggered[button]:
|
||||
# reset the triggered action
|
||||
self.triggered_commands[button].reset(t)
|
||||
# reset the internal timing variable
|
||||
reset_timer = True
|
||||
self.currently_triggered[button] = True
|
||||
else:
|
||||
self.currently_triggered[button] = False
|
||||
# execute the triggered action
|
||||
if self.currently_triggered[button] and t < self.triggered_commands[button].max_timestep:
|
||||
command = self.triggered_commands[button].get_command(t)
|
||||
|
||||
|
||||
return command, reset_timer
|
||||
|
||||
def add_triggered_command(self, button_idx, command_profile):
|
||||
self.triggered_commands[button_idx] = command_profile
|
||||
|
||||
def get_buttons(self):
|
||||
return self.state_estimator.get_buttons()
|
||||
|
||||
class RCControllerProfileAccel(RCControllerProfile):
|
||||
def __init__(self, dt, state_estimator, x_scale=1.0, y_scale=1.0, yaw_scale=1.0):
|
||||
super().__init__(dt, state_estimator, x_scale=x_scale, y_scale=y_scale, yaw_scale=yaw_scale)
|
||||
self.x_scale, self.y_scale, self.yaw_scale = self.x_scale / 100., self.y_scale / 100., self.yaw_scale / 100.
|
||||
self.velocity_command = torch.zeros(3)
|
||||
|
||||
def get_command(self, t):
|
||||
|
||||
accel_command = self.state_estimator.get_command()
|
||||
self.velocity_command[0] = self.velocity_command[0] + accel_command[0] * self.x_scale
|
||||
self.velocity_command[1] = self.velocity_command[1] + accel_command[1] * self.y_scale
|
||||
self.velocity_command[2] = self.velocity_command[2] + accel_command[2] * self.yaw_scale
|
||||
|
||||
# check for action buttons
|
||||
prev_button_states = self.button_states[:]
|
||||
self.button_states = self.state_estimator.get_buttons()
|
||||
for button in range(4):
|
||||
if self.button_states[button] == 1 and self.triggered_commands[button] is not None:
|
||||
if prev_button_states[button] == 0:
|
||||
# reset the triggered action
|
||||
self.triggered_commands[button].reset(t)
|
||||
# execute the triggered action
|
||||
return self.triggered_commands[button].get_command(t)
|
||||
|
||||
return self.velocity_command[:]
|
||||
|
||||
def add_triggered_command(self, button_idx, command_profile):
|
||||
self.triggered_commands[button_idx] = command_profile
|
||||
|
||||
def get_buttons(self):
|
||||
return self.state_estimator.get_buttons()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
class KeyboardProfile(CommandProfile):
|
||||
# for control via keyboard inputs to isaac gym visualizer
|
||||
def __init__(self, dt, isaac_env, x_scale=1.0, y_scale=1.0, yaw_scale=1.0):
|
||||
super().__init__(dt)
|
||||
from isaacgym.gymapi import KeyboardInput
|
||||
self.gym = isaac_env.gym
|
||||
self.viewer = isaac_env.viewer
|
||||
self.x_scale = x_scale
|
||||
self.y_scale = y_scale
|
||||
self.yaw_scale = yaw_scale
|
||||
self.gym.subscribe_viewer_keyboard_event(self.viewer, KeyboardInput.KEY_UP, "FORWARD")
|
||||
self.gym.subscribe_viewer_keyboard_event(self.viewer, KeyboardInput.KEY_DOWN, "REVERSE")
|
||||
self.gym.subscribe_viewer_keyboard_event(self.viewer, KeyboardInput.KEY_LEFT, "LEFT")
|
||||
self.gym.subscribe_viewer_keyboard_event(self.viewer, KeyboardInput.KEY_RIGHT, "RIGHT")
|
||||
|
||||
self.keyb_command = [0, 0, 0]
|
||||
self.command = [0, 0, 0]
|
||||
|
||||
def get_command(self, t):
|
||||
events = self.gym.query_viewer_action_events(self.viewer)
|
||||
events_dict = {event.action: event.value for event in events}
|
||||
print(events_dict)
|
||||
if "FORWARD" in events_dict and events_dict["FORWARD"] == 1.0: self.keyb_command[0] = 1.0
|
||||
if "FORWARD" in events_dict and events_dict["FORWARD"] == 0.0: self.keyb_command[0] = 0.0
|
||||
if "REVERSE" in events_dict and events_dict["REVERSE"] == 1.0: self.keyb_command[0] = -1.0
|
||||
if "REVERSE" in events_dict and events_dict["REVERSE"] == 0.0: self.keyb_command[0] = 0.0
|
||||
if "LEFT" in events_dict and events_dict["LEFT"] == 1.0: self.keyb_command[1] = 1.0
|
||||
if "LEFT" in events_dict and events_dict["LEFT"] == 0.0: self.keyb_command[1] = 0.0
|
||||
if "RIGHT" in events_dict and events_dict["RIGHT"] == 1.0: self.keyb_command[1] = -1.0
|
||||
if "RIGHT" in events_dict and events_dict["RIGHT"] == 0.0: self.keyb_command[1] = 0.0
|
||||
|
||||
self.command[0] = self.keyb_command[0] * self.x_scale
|
||||
self.command[1] = self.keyb_command[2] * self.y_scale
|
||||
self.command[2] = self.keyb_command[1] * self.yaw_scale
|
||||
|
||||
print(self.command)
|
||||
|
||||
return self.command
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
cmdprof = ConstantAccelerationProfile(dt=0.2, max_speed=4, accel_time=3)
|
||||
print(cmdprof.commands)
|
||||
print(cmdprof.get_command(2))
|
||||
|
|
@ -1,222 +0,0 @@
|
|||
import copy
|
||||
import time
|
||||
import os
|
||||
|
||||
import numpy as np
|
||||
import torch
|
||||
|
||||
from go1_gym_deploy.utils.logger import MultiLogger
|
||||
|
||||
|
||||
class DeploymentRunner:
|
||||
def __init__(self, experiment_name="unnamed", se=None, log_root="."):
|
||||
self.agents = {}
|
||||
self.policy = None
|
||||
self.command_profile = None
|
||||
self.logger = MultiLogger()
|
||||
self.se = se
|
||||
self.vision_server = None
|
||||
|
||||
self.log_root = log_root
|
||||
self.init_log_filename()
|
||||
self.control_agent_name = None
|
||||
self.command_agent_name = None
|
||||
|
||||
self.triggered_commands = {i: None for i in range(4)} # command profiles for each action button on the controller
|
||||
self.button_states = np.zeros(4)
|
||||
|
||||
self.is_currently_probing = False
|
||||
self.is_currently_logging = [False, False, False, False]
|
||||
|
||||
def init_log_filename(self):
|
||||
datetime = time.strftime("%Y/%m_%d/%H_%M_%S")
|
||||
|
||||
for i in range(100):
|
||||
try:
|
||||
os.makedirs(f"{self.log_root}/{datetime}_{i}")
|
||||
self.log_filename = f"{self.log_root}/{datetime}_{i}/log.pkl"
|
||||
return
|
||||
except FileExistsError:
|
||||
continue
|
||||
|
||||
|
||||
def add_open_loop_agent(self, agent, name):
|
||||
self.agents[name] = agent
|
||||
self.logger.add_robot(name, agent.env.cfg)
|
||||
|
||||
def add_control_agent(self, agent, name):
|
||||
self.control_agent_name = name
|
||||
self.agents[name] = agent
|
||||
self.logger.add_robot(name, agent.env.cfg)
|
||||
|
||||
def add_vision_server(self, vision_server):
|
||||
self.vision_server = vision_server
|
||||
|
||||
def set_command_agents(self, name):
|
||||
self.command_agent = name
|
||||
|
||||
def add_policy(self, policy):
|
||||
self.policy = policy
|
||||
|
||||
def add_command_profile(self, command_profile):
|
||||
self.command_profile = command_profile
|
||||
|
||||
|
||||
def calibrate(self, wait=True, low=False):
|
||||
# first, if the robot is not in nominal pose, move slowly to the nominal pose
|
||||
for agent_name in self.agents.keys():
|
||||
if hasattr(self.agents[agent_name], "get_obs"):
|
||||
agent = self.agents[agent_name]
|
||||
agent.get_obs()
|
||||
joint_pos = agent.dof_pos
|
||||
if low:
|
||||
final_goal = np.array([0., 0.3, -0.7,
|
||||
0., 0.3, -0.7,
|
||||
0., 0.3, -0.7,
|
||||
0., 0.3, -0.7,])
|
||||
else:
|
||||
final_goal = np.zeros(12)
|
||||
nominal_joint_pos = agent.default_dof_pos
|
||||
|
||||
print(f"About to calibrate; the robot will stand [Press R2 to calibrate]")
|
||||
while wait:
|
||||
self.button_states = self.command_profile.get_buttons()
|
||||
if self.command_profile.state_estimator.right_lower_right_switch_pressed:
|
||||
self.command_profile.state_estimator.right_lower_right_switch_pressed = False
|
||||
break
|
||||
|
||||
cal_action = np.zeros((agent.num_envs, agent.num_actions))
|
||||
target_sequence = []
|
||||
target = joint_pos - nominal_joint_pos
|
||||
while np.max(np.abs(target - final_goal)) > 0.01:
|
||||
target -= np.clip((target - final_goal), -0.05, 0.05)
|
||||
target_sequence += [copy.deepcopy(target)]
|
||||
for target in target_sequence:
|
||||
next_target = target
|
||||
if isinstance(agent.cfg, dict):
|
||||
hip_reduction = agent.cfg["control"]["hip_scale_reduction"]
|
||||
action_scale = agent.cfg["control"]["action_scale"]
|
||||
else:
|
||||
hip_reduction = agent.cfg.control.hip_scale_reduction
|
||||
action_scale = agent.cfg.control.action_scale
|
||||
|
||||
next_target[[0, 3, 6, 9]] /= hip_reduction
|
||||
next_target = next_target / action_scale
|
||||
cal_action[:, 0:12] = next_target
|
||||
agent.step(torch.from_numpy(cal_action))
|
||||
agent.get_obs()
|
||||
time.sleep(0.05)
|
||||
|
||||
print("Starting pose calibrated [Press R2 to start controller]")
|
||||
while True:
|
||||
self.button_states = self.command_profile.get_buttons()
|
||||
if self.command_profile.state_estimator.right_lower_right_switch_pressed:
|
||||
self.command_profile.state_estimator.right_lower_right_switch_pressed = False
|
||||
break
|
||||
|
||||
for agent_name in self.agents.keys():
|
||||
obs = self.agents[agent_name].reset()
|
||||
if agent_name == self.control_agent_name:
|
||||
control_obs = obs
|
||||
|
||||
return control_obs
|
||||
|
||||
|
||||
def run(self, num_log_steps=1000000000, max_steps=100000000, logging=True):
|
||||
assert self.control_agent_name is not None, "cannot deploy, runner has no control agent!"
|
||||
assert self.policy is not None, "cannot deploy, runner has no policy!"
|
||||
assert self.command_profile is not None, "cannot deploy, runner has no command profile!"
|
||||
|
||||
# TODO: add basic test for comms
|
||||
|
||||
for agent_name in self.agents.keys():
|
||||
obs = self.agents[agent_name].reset()
|
||||
if agent_name == self.control_agent_name:
|
||||
control_obs = obs
|
||||
|
||||
control_obs = self.calibrate(wait=True)
|
||||
|
||||
# now, run control loop
|
||||
|
||||
try:
|
||||
for i in range(max_steps):
|
||||
|
||||
policy_info = {}
|
||||
action = self.policy(control_obs, policy_info)
|
||||
|
||||
for agent_name in self.agents.keys():
|
||||
obs, ret, done, info = self.agents[agent_name].step(action)
|
||||
|
||||
info.update(policy_info)
|
||||
info.update({"observation": obs, "reward": ret, "done": done, "timestep": i,
|
||||
"time": i * self.agents[self.control_agent_name].dt, "action": action, "rpy": self.agents[self.control_agent_name].se.get_rpy(), "torques": self.agents[self.control_agent_name].torques})
|
||||
|
||||
if logging: self.logger.log(agent_name, info)
|
||||
|
||||
if agent_name == self.control_agent_name:
|
||||
control_obs, control_ret, control_done, control_info = obs, ret, done, info
|
||||
|
||||
# bad orientation emergency stop
|
||||
rpy = self.agents[self.control_agent_name].se.get_rpy()
|
||||
if abs(rpy[0]) > 1.6 or abs(rpy[1]) > 1.6:
|
||||
self.calibrate(wait=False, low=True)
|
||||
|
||||
# check for logging command
|
||||
prev_button_states = self.button_states[:]
|
||||
self.button_states = self.command_profile.get_buttons()
|
||||
|
||||
if self.command_profile.state_estimator.left_lower_left_switch_pressed:
|
||||
if not self.is_currently_probing:
|
||||
print("START LOGGING")
|
||||
self.is_currently_probing = True
|
||||
self.agents[self.control_agent_name].set_probing(True)
|
||||
self.init_log_filename()
|
||||
self.logger.reset()
|
||||
else:
|
||||
print("SAVE LOG")
|
||||
self.is_currently_probing = False
|
||||
self.agents[self.control_agent_name].set_probing(False)
|
||||
# calibrate, log, and then resume control
|
||||
control_obs = self.calibrate(wait=False)
|
||||
self.logger.save(self.log_filename)
|
||||
self.init_log_filename()
|
||||
self.logger.reset()
|
||||
time.sleep(1)
|
||||
control_obs = self.agents[self.control_agent_name].reset()
|
||||
self.command_profile.state_estimator.left_lower_left_switch_pressed = False
|
||||
|
||||
for button in range(4):
|
||||
if self.command_profile.currently_triggered[button]:
|
||||
if not self.is_currently_logging[button]:
|
||||
print("START LOGGING")
|
||||
self.is_currently_logging[button] = True
|
||||
self.init_log_filename()
|
||||
self.logger.reset()
|
||||
else:
|
||||
if self.is_currently_logging[button]:
|
||||
print("SAVE LOG")
|
||||
self.is_currently_logging[button] = False
|
||||
# calibrate, log, and then resume control
|
||||
control_obs = self.calibrate(wait=False)
|
||||
self.logger.save(self.log_filename)
|
||||
self.init_log_filename()
|
||||
self.logger.reset()
|
||||
time.sleep(1)
|
||||
control_obs = self.agents[self.control_agent_name].reset()
|
||||
|
||||
if self.command_profile.state_estimator.right_lower_right_switch_pressed:
|
||||
control_obs = self.calibrate(wait=False)
|
||||
time.sleep(1)
|
||||
self.command_profile.state_estimator.right_lower_right_switch_pressed = False
|
||||
# self.button_states = self.command_profile.get_buttons()
|
||||
while not self.command_profile.state_estimator.right_lower_right_switch_pressed:
|
||||
time.sleep(0.01)
|
||||
# self.button_states = self.command_profile.get_buttons()
|
||||
self.command_profile.state_estimator.right_lower_right_switch_pressed = False
|
||||
|
||||
# finally, return to the nominal pose
|
||||
control_obs = self.calibrate(wait=False)
|
||||
self.logger.save(self.log_filename)
|
||||
|
||||
except KeyboardInterrupt:
|
||||
self.logger.save(self.log_filename)
|
||||
|
|
@ -1,79 +0,0 @@
|
|||
import copy
|
||||
import pickle as pkl
|
||||
|
||||
import numpy as np
|
||||
import torch
|
||||
|
||||
|
||||
def class_to_dict(obj) -> dict:
|
||||
if not hasattr(obj, "__dict__"):
|
||||
return obj
|
||||
result = {}
|
||||
for key in dir(obj):
|
||||
if key.startswith("_") or key == "terrain":
|
||||
continue
|
||||
element = []
|
||||
val = getattr(obj, key)
|
||||
if isinstance(val, list):
|
||||
for item in val:
|
||||
element.append(class_to_dict(item))
|
||||
else:
|
||||
print(key)
|
||||
element = class_to_dict(val)
|
||||
result[key] = element
|
||||
return result
|
||||
|
||||
|
||||
class MultiLogger:
|
||||
def __init__(self):
|
||||
self.loggers = {}
|
||||
|
||||
def add_robot(self, name, cfg):
|
||||
print(name, cfg)
|
||||
self.loggers[name] = EpisodeLogger(cfg)
|
||||
|
||||
def log(self, name, info):
|
||||
self.loggers[name].log(info)
|
||||
|
||||
def save(self, filename):
|
||||
with open(filename, 'wb') as file:
|
||||
logdict = {}
|
||||
for key in self.loggers.keys():
|
||||
logdict[key] = [class_to_dict(self.loggers[key].cfg), self.loggers[key].infos]
|
||||
pkl.dump(logdict, file)
|
||||
print(f"Saved log! Number of timesteps: {[len(self.loggers[key].infos) for key in self.loggers.keys()]}; Path: {filename}")
|
||||
|
||||
def read_metric(self, metric, robot_name=None):
|
||||
if robot_name is None:
|
||||
robot_name = list(self.loggers.keys())[0]
|
||||
logger = self.loggers[robot_name]
|
||||
|
||||
metric_arr = []
|
||||
for info in logger.infos:
|
||||
metric_arr += [info[metric]]
|
||||
return np.array(metric_arr)
|
||||
|
||||
def reset(self):
|
||||
for key, log in self.loggers.items():
|
||||
log.reset()
|
||||
|
||||
|
||||
class EpisodeLogger:
|
||||
def __init__(self, cfg):
|
||||
self.infos = []
|
||||
self.cfg = cfg
|
||||
|
||||
def log(self, info):
|
||||
for key in info.keys():
|
||||
if isinstance(info[key], torch.Tensor):
|
||||
info[key] = info[key].detach().cpu().numpy()
|
||||
|
||||
if isinstance(info[key], dict):
|
||||
continue
|
||||
elif "image" not in key:
|
||||
info[key] = copy.deepcopy(info[key])
|
||||
|
||||
self.infos += [dict(info)]
|
||||
|
||||
def reset(self):
|
||||
self.infos = []
|
||||
|
|
@ -1,69 +0,0 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
from os.path import expanduser
|
||||
import netifaces
|
||||
import sys
|
||||
import subprocess
|
||||
|
||||
def get_saved_interface_name():
|
||||
home = expanduser("~")
|
||||
name = ""
|
||||
try:
|
||||
with open(home + "/.cheetah_network.txt"):
|
||||
name = f.read().split()[0]
|
||||
except:
|
||||
name = ""
|
||||
return name
|
||||
|
||||
def get_likely_iface():
|
||||
ifs = netifaces.interfaces()
|
||||
print("Found {} interfaces:".format(len(ifs)))
|
||||
|
||||
if_to_addrs = {}
|
||||
|
||||
for i in ifs:
|
||||
if_to_addrs[i] = []
|
||||
if netifaces.AF_INET in netifaces.ifaddresses(i).keys():
|
||||
for ad in netifaces.ifaddresses(i)[netifaces.AF_INET]:
|
||||
if_to_addrs[i].append(ad['addr'])
|
||||
|
||||
for i in range(len(ifs)):
|
||||
print(" [{}] : {} : {}".format(i, ifs[i], if_to_addrs[ifs[i]]))
|
||||
|
||||
found_10_ip = 0
|
||||
selected_if = ""
|
||||
|
||||
for i in ifs:
|
||||
match_string = "192.168.123."
|
||||
if len(if_to_addrs[i]) > 0 and if_to_addrs[i][0][:len(match_string)] == match_string:
|
||||
found_10_ip = found_10_ip + 1
|
||||
selected_if = i
|
||||
|
||||
if found_10_ip == 0:
|
||||
print("None of the network adapters look correct. Make sure you have set a 10.0.0.x static ip!")
|
||||
return ""
|
||||
|
||||
elif found_10_ip == 1:
|
||||
print("The adapter {} seems correct".format(selected_if))
|
||||
return selected_if
|
||||
|
||||
else:
|
||||
print("Found {} possible adapters, giving up".format(found_10_ip))
|
||||
return ""
|
||||
|
||||
def main():
|
||||
name = get_saved_interface_name()
|
||||
if not name:
|
||||
print("Didn't find saved interface, searching...")
|
||||
name = get_likely_iface()
|
||||
if not name:
|
||||
sys.exit("Failed to find network adapter name")
|
||||
else:
|
||||
print("Found saved interface {}".format(name))
|
||||
|
||||
print("Setup for interface {}".format(name))
|
||||
subprocess.call(['sudo', 'ifconfig', name, 'multicast'])
|
||||
subprocess.call(['sudo', 'route', 'add', '-net', '224.0.0.0', 'netmask', '240.0.0.0', 'dev', name])
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -3,4 +3,4 @@
|
|||
import os
|
||||
|
||||
MINI_GYM_ROOT_DIR = os.path.dirname(os.path.dirname(os.path.realpath(__file__)))
|
||||
MINI_GYM_ENVS_DIR = os.path.join(MINI_GYM_ROOT_DIR, 'go1_gym', 'envs')
|
||||
MINI_GYM_ENVS_DIR = os.path.join(MINI_GYM_ROOT_DIR, 'go2_gym', 'envs')
|
||||
|
|
@ -9,10 +9,10 @@ from isaacgym.torch_utils import *
|
|||
assert gymtorch
|
||||
import torch
|
||||
|
||||
from go1_gym import MINI_GYM_ROOT_DIR
|
||||
from go1_gym.envs.base.base_task import BaseTask
|
||||
from go1_gym.utils.math_utils import quat_apply_yaw, wrap_to_pi, get_scale_shift
|
||||
from go1_gym.utils.terrain import Terrain
|
||||
from go2_gym import MINI_GYM_ROOT_DIR
|
||||
from go2_gym.envs.base.base_task import BaseTask
|
||||
from go2_gym.utils.math_utils import quat_apply_yaw, wrap_to_pi, get_scale_shift
|
||||
from go2_gym.utils.terrain import Terrain
|
||||
from .legged_robot_config import Cfg
|
||||
|
||||
|
||||
|
|
@ -1387,7 +1387,7 @@ class LeggedRobot(BaseTask):
|
|||
Looks for self._reward_<REWARD_NAME>, where <REWARD_NAME> are names of all non zero reward scales in the cfg.
|
||||
"""
|
||||
# reward containers
|
||||
from go1_gym.envs.rewards.corl_rewards import CoRLRewards
|
||||
from go2_gym.envs.rewards.corl_rewards import CoRLRewards
|
||||
reward_containers = {"CoRLRewards": CoRLRewards}
|
||||
self.reward_container = reward_containers[self.cfg.rewards.reward_container_name](self)
|
||||
|
||||
|
|
@ -2,10 +2,10 @@ from typing import Union
|
|||
|
||||
from params_proto import Meta
|
||||
|
||||
from go1_gym.envs.base.legged_robot_config import Cfg
|
||||
from go2_gym.envs.base.legged_robot_config import Cfg
|
||||
|
||||
|
||||
def config_go1(Cnfg: Union[Cfg, Meta]):
|
||||
def config_go2(Cnfg: Union[Cfg, Meta]):
|
||||
_ = Cnfg.init_state
|
||||
|
||||
_.pos = [0.0, 0.0, 0.34] # x,y,z [m]
|
||||
|
|
@ -72,7 +72,7 @@ def config_go1(Cnfg: Union[Cfg, Meta]):
|
|||
_ = Cnfg.env
|
||||
_.num_observations = 42
|
||||
_.observe_vel = False
|
||||
_.num_envs = 40
|
||||
_.num_envs = 4096
|
||||
|
||||
_ = Cnfg.commands
|
||||
_.lin_vel_x = [-1.0, 1.0]
|
||||
|
|
@ -3,8 +3,8 @@ import torch
|
|||
from params_proto import Meta
|
||||
from typing import Union
|
||||
|
||||
from go1_gym.envs.base.legged_robot import LeggedRobot
|
||||
from go1_gym.envs.base.legged_robot_config import Cfg
|
||||
from go2_gym.envs.base.legged_robot import LeggedRobot
|
||||
from go2_gym.envs.base.legged_robot_config import Cfg
|
||||
|
||||
|
||||
class VelocityTrackingEasyEnv(LeggedRobot):
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
import torch
|
||||
import numpy as np
|
||||
from go1_gym.utils.math_utils import quat_apply_yaw, wrap_to_pi, get_scale_shift
|
||||
from go2_gym.utils.math_utils import quat_apply_yaw, wrap_to_pi, get_scale_shift
|
||||
from isaacgym.torch_utils import *
|
||||
from isaacgym import gymapi
|
||||
|
||||
|
|
@ -47,12 +47,12 @@ if __name__ == "__main__":
|
|||
|
||||
import ml_logger as logger
|
||||
|
||||
from go1_gym_learn.ppo import Runner
|
||||
from go1_gym.envs.wrappers.history_wrapper import HistoryWrapper
|
||||
from go1_gym_learn.ppo.actor_critic import AC_Args
|
||||
from go2_gym_learn.ppo import Runner
|
||||
from go2_gym.envs.wrappers.history_wrapper import HistoryWrapper
|
||||
from go2_gym_learn.ppo.actor_critic import AC_Args
|
||||
|
||||
from go1_gym.envs.base.legged_robot_config import Cfg
|
||||
from go1_gym.envs.mini_cheetah.mini_cheetah_config import config_mini_cheetah
|
||||
from go2_gym.envs.base.legged_robot_config import Cfg
|
||||
from go2_gym.envs.mini_cheetah.mini_cheetah_config import config_mini_cheetah
|
||||
config_mini_cheetah(Cfg)
|
||||
|
||||
test_env = gym.make("VelocityTrackingEasyEnv-v0", cfg=Cfg)
|
||||
|
|
@ -6,7 +6,7 @@ import numpy as np
|
|||
from isaacgym import terrain_utils
|
||||
from numpy.random import choice
|
||||
|
||||
from go1_gym.envs.base.legged_robot_config import Cfg
|
||||
from go2_gym.envs.base.legged_robot_config import Cfg
|
||||
|
||||
|
||||
class Terrain:
|
||||
Binary file not shown.
|
|
@ -1,5 +0,0 @@
|
|||
#!/bin/bash
|
||||
sudo docker stop foxy_controller || true
|
||||
sudo docker rm foxy_controller || true
|
||||
cd ~/go1_gym/go1_gym_deploy/docker/
|
||||
sudo make autostart
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/bash
|
||||
sudo docker stop foxy_controller || true
|
||||
sudo docker rm foxy_controller || true
|
||||
sudo kill $(ps aux |grep lcm_position_go2 | awk '{print $2}')
|
||||
cd ~/go2_gym/go2_gym_deploy/build/
|
||||
yes "" | sudo ./lcm_position_go2 eth0 &
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
# This is the CMakeCache file.
|
||||
# For build in directory: /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build
|
||||
# For build in directory: /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build
|
||||
# It was generated by CMake: /usr/bin/cmake
|
||||
# You can edit this file to change values found and used by cmake.
|
||||
# If you do not want to change any of the values, simply exit the editor.
|
||||
|
|
@ -210,13 +210,13 @@ CMAKE_STRIP:FILEPATH=/usr/bin/strip
|
|||
CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
|
||||
|
||||
//Value Computed by CMake
|
||||
go2_rl_lcm_BINARY_DIR:STATIC=/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build
|
||||
go2_rl_lcm_BINARY_DIR:STATIC=/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build
|
||||
|
||||
//Value Computed by CMake
|
||||
go2_rl_lcm_SOURCE_DIR:STATIC=/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy
|
||||
go2_rl_lcm_SOURCE_DIR:STATIC=/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy
|
||||
|
||||
//The directory containing a CMake configuration file for lcm.
|
||||
lcm_DIR:PATH=/usr/local/lib/lcm/cmake
|
||||
lcm_DIR:PATH=lcm_DIR-NOTFOUND
|
||||
|
||||
|
||||
########################
|
||||
|
|
@ -228,7 +228,7 @@ CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1
|
|||
//ADVANCED property for variable: CMAKE_AR
|
||||
CMAKE_AR-ADVANCED:INTERNAL=1
|
||||
//This is the directory where this CMakeCache.txt was created
|
||||
CMAKE_CACHEFILE_DIR:INTERNAL=/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build
|
||||
CMAKE_CACHEFILE_DIR:INTERNAL=/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build
|
||||
//Major version of cmake used to create the current loaded cache
|
||||
CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
|
||||
//Minor version of cmake used to create the current loaded cache
|
||||
|
|
@ -277,6 +277,8 @@ CMAKE_C_FLAGS_RELEASE-ADVANCED:INTERNAL=1
|
|||
CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
|
||||
//ADVANCED property for variable: CMAKE_DLLTOOL
|
||||
CMAKE_DLLTOOL-ADVANCED:INTERNAL=1
|
||||
//Path to cache edit program executable.
|
||||
CMAKE_EDIT_COMMAND:INTERNAL=/usr/bin/ccmake
|
||||
//Executable file format
|
||||
CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF
|
||||
//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
|
||||
|
|
@ -303,7 +305,7 @@ CMAKE_GENERATOR_PLATFORM:INTERNAL=
|
|||
CMAKE_GENERATOR_TOOLSET:INTERNAL=
|
||||
//Source directory with the top level CMakeLists.txt file for this
|
||||
// project
|
||||
CMAKE_HOME_DIRECTORY:INTERNAL=/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy
|
||||
CMAKE_HOME_DIRECTORY:INTERNAL=/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy
|
||||
//Install .so files without execute permission.
|
||||
CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1
|
||||
//ADVANCED property for variable: CMAKE_LINKER
|
||||
|
|
|
|||
|
|
@ -47,7 +47,7 @@ set(CMAKE_C_LINKER_PREFERENCE 10)
|
|||
# Save compiler ABI information.
|
||||
set(CMAKE_C_SIZEOF_DATA_PTR "8")
|
||||
set(CMAKE_C_COMPILER_ABI "ELF")
|
||||
set(CMAKE_C_LIBRARY_ARCHITECTURE "aarch64-linux-gnu")
|
||||
set(CMAKE_C_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
|
||||
|
||||
if(CMAKE_C_SIZEOF_DATA_PTR)
|
||||
set(CMAKE_SIZEOF_VOID_P "${CMAKE_C_SIZEOF_DATA_PTR}")
|
||||
|
|
@ -58,7 +58,7 @@ if(CMAKE_C_COMPILER_ABI)
|
|||
endif()
|
||||
|
||||
if(CMAKE_C_LIBRARY_ARCHITECTURE)
|
||||
set(CMAKE_LIBRARY_ARCHITECTURE "aarch64-linux-gnu")
|
||||
set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
|
||||
endif()
|
||||
|
||||
set(CMAKE_C_CL_SHOWINCLUDES_PREFIX "")
|
||||
|
|
@ -70,7 +70,7 @@ endif()
|
|||
|
||||
|
||||
|
||||
set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES "/usr/lib/gcc/aarch64-linux-gnu/9/include;/usr/local/include;/usr/include/aarch64-linux-gnu;/usr/include")
|
||||
set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/9/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include")
|
||||
set(CMAKE_C_IMPLICIT_LINK_LIBRARIES "gcc;gcc_s;c;gcc;gcc_s")
|
||||
set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/aarch64-linux-gnu/9;/usr/lib/aarch64-linux-gnu;/usr/lib;/lib/aarch64-linux-gnu;/lib")
|
||||
set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/9;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib")
|
||||
set(CMAKE_C_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")
|
||||
|
|
|
|||
|
|
@ -59,7 +59,7 @@ set(CMAKE_CXX_LINKER_PREFERENCE_PROPAGATES 1)
|
|||
# Save compiler ABI information.
|
||||
set(CMAKE_CXX_SIZEOF_DATA_PTR "8")
|
||||
set(CMAKE_CXX_COMPILER_ABI "ELF")
|
||||
set(CMAKE_CXX_LIBRARY_ARCHITECTURE "aarch64-linux-gnu")
|
||||
set(CMAKE_CXX_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
|
||||
|
||||
if(CMAKE_CXX_SIZEOF_DATA_PTR)
|
||||
set(CMAKE_SIZEOF_VOID_P "${CMAKE_CXX_SIZEOF_DATA_PTR}")
|
||||
|
|
@ -70,7 +70,7 @@ if(CMAKE_CXX_COMPILER_ABI)
|
|||
endif()
|
||||
|
||||
if(CMAKE_CXX_LIBRARY_ARCHITECTURE)
|
||||
set(CMAKE_LIBRARY_ARCHITECTURE "aarch64-linux-gnu")
|
||||
set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
|
||||
endif()
|
||||
|
||||
set(CMAKE_CXX_CL_SHOWINCLUDES_PREFIX "")
|
||||
|
|
@ -82,7 +82,7 @@ endif()
|
|||
|
||||
|
||||
|
||||
set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "/usr/include/c++/9;/usr/include/aarch64-linux-gnu/c++/9;/usr/include/c++/9/backward;/usr/lib/gcc/aarch64-linux-gnu/9/include;/usr/local/include;/usr/include/aarch64-linux-gnu;/usr/include")
|
||||
set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "/usr/include/c++/9;/usr/include/x86_64-linux-gnu/c++/9;/usr/include/c++/9/backward;/usr/lib/gcc/x86_64-linux-gnu/9/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include")
|
||||
set(CMAKE_CXX_IMPLICIT_LINK_LIBRARIES "stdc++;m;gcc_s;gcc;c;gcc_s;gcc")
|
||||
set(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/aarch64-linux-gnu/9;/usr/lib/aarch64-linux-gnu;/usr/lib;/lib/aarch64-linux-gnu;/lib")
|
||||
set(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/9;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib")
|
||||
set(CMAKE_CXX_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -1,14 +1,14 @@
|
|||
set(CMAKE_HOST_SYSTEM "Linux-5.15.0-91-generic")
|
||||
set(CMAKE_HOST_SYSTEM "Linux-5.15.0-97-generic")
|
||||
set(CMAKE_HOST_SYSTEM_NAME "Linux")
|
||||
set(CMAKE_HOST_SYSTEM_VERSION "5.15.0-91-generic")
|
||||
set(CMAKE_HOST_SYSTEM_PROCESSOR "aarch64")
|
||||
set(CMAKE_HOST_SYSTEM_VERSION "5.15.0-97-generic")
|
||||
set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
|
||||
|
||||
|
||||
|
||||
set(CMAKE_SYSTEM "Linux-5.15.0-91-generic")
|
||||
set(CMAKE_SYSTEM "Linux-5.15.0-97-generic")
|
||||
set(CMAKE_SYSTEM_NAME "Linux")
|
||||
set(CMAKE_SYSTEM_VERSION "5.15.0-91-generic")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "aarch64")
|
||||
set(CMAKE_SYSTEM_VERSION "5.15.0-97-generic")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "x86_64")
|
||||
|
||||
set(CMAKE_CROSSCOMPILING "FALSE")
|
||||
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -1,16 +0,0 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Generated by "Unix Makefiles" Generator, CMake Version 3.16
|
||||
|
||||
# Relative path conversion top directories.
|
||||
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy")
|
||||
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build")
|
||||
|
||||
# Force unix paths in dependencies.
|
||||
set(CMAKE_FORCE_UNIX_PATHS 1)
|
||||
|
||||
|
||||
# The C and CXX include file regular expressions for this directory.
|
||||
set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
|
||||
set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
|
||||
set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
|
||||
set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
The system is: Linux - 5.15.0-91-generic - aarch64
|
||||
The system is: Linux - 5.15.0-97-generic - x86_64
|
||||
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
|
||||
Compiler: /usr/bin/cc
|
||||
Build flags:
|
||||
|
|
@ -10,7 +10,7 @@ The output was:
|
|||
|
||||
Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
|
||||
|
||||
The C compiler identification is GNU, found in "/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/3.16.3/CompilerIdC/a.out"
|
||||
The C compiler identification is GNU, found in "/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/3.16.3/CompilerIdC/a.out"
|
||||
|
||||
Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
|
||||
Compiler: /usr/bin/c++
|
||||
|
|
@ -23,156 +23,164 @@ The output was:
|
|||
|
||||
Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
|
||||
|
||||
The CXX compiler identification is GNU, found in "/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out"
|
||||
The CXX compiler identification is GNU, found in "/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out"
|
||||
|
||||
Determining if the C compiler works passed with the following output:
|
||||
Change Dir: /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp
|
||||
Change Dir: /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp
|
||||
|
||||
Run Build Command(s):/usr/bin/make cmTC_854e0/fast && /usr/bin/make -f CMakeFiles/cmTC_854e0.dir/build.make CMakeFiles/cmTC_854e0.dir/build
|
||||
make[1]: Entering directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Building C object CMakeFiles/cmTC_854e0.dir/testCCompiler.c.o
|
||||
/usr/bin/cc -o CMakeFiles/cmTC_854e0.dir/testCCompiler.c.o -c /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp/testCCompiler.c
|
||||
Linking C executable cmTC_854e0
|
||||
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_854e0.dir/link.txt --verbose=1
|
||||
/usr/bin/cc -rdynamic CMakeFiles/cmTC_854e0.dir/testCCompiler.c.o -o cmTC_854e0
|
||||
make[1]: Leaving directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Run Build Command(s):/usr/bin/make cmTC_00449/fast && /usr/bin/make -f CMakeFiles/cmTC_00449.dir/build.make CMakeFiles/cmTC_00449.dir/build
|
||||
make[1]: Entering directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Building C object CMakeFiles/cmTC_00449.dir/testCCompiler.c.o
|
||||
/usr/bin/cc -o CMakeFiles/cmTC_00449.dir/testCCompiler.c.o -c /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp/testCCompiler.c
|
||||
Linking C executable cmTC_00449
|
||||
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_00449.dir/link.txt --verbose=1
|
||||
/usr/bin/cc -rdynamic CMakeFiles/cmTC_00449.dir/testCCompiler.c.o -o cmTC_00449
|
||||
make[1]: Leaving directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
|
||||
|
||||
|
||||
Detecting C compiler ABI info compiled with the following output:
|
||||
Change Dir: /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp
|
||||
Change Dir: /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp
|
||||
|
||||
Run Build Command(s):/usr/bin/make cmTC_2b32e/fast && /usr/bin/make -f CMakeFiles/cmTC_2b32e.dir/build.make CMakeFiles/cmTC_2b32e.dir/build
|
||||
make[1]: Entering directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Building C object CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o
|
||||
/usr/bin/cc -v -o CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c
|
||||
Run Build Command(s):/usr/bin/make cmTC_cc6e8/fast && /usr/bin/make -f CMakeFiles/cmTC_cc6e8.dir/build.make CMakeFiles/cmTC_cc6e8.dir/build
|
||||
make[1]: Entering directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Building C object CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o
|
||||
/usr/bin/cc -v -o CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c
|
||||
Using built-in specs.
|
||||
COLLECT_GCC=/usr/bin/cc
|
||||
Target: aarch64-linux-gnu
|
||||
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu
|
||||
OFFLOAD_TARGET_NAMES=nvptx-none:hsa
|
||||
OFFLOAD_TARGET_DEFAULT=1
|
||||
Target: x86_64-linux-gnu
|
||||
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
|
||||
Thread model: posix
|
||||
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o' '-c' '-mlittle-endian' '-mabi=lp64'
|
||||
/usr/lib/gcc/aarch64-linux-gnu/9/cc1 -quiet -v -imultiarch aarch64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mlittle-endian -mabi=lp64 -auxbase-strip CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -o /tmp/ccqKfaLB.s
|
||||
GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
|
||||
/usr/lib/gcc/x86_64-linux-gnu/9/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccvsoKCc.s
|
||||
GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
|
||||
compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP
|
||||
|
||||
GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
|
||||
ignoring nonexistent directory "/usr/local/include/aarch64-linux-gnu"
|
||||
ignoring nonexistent directory "/usr/lib/gcc/aarch64-linux-gnu/9/include-fixed"
|
||||
ignoring nonexistent directory "/usr/lib/gcc/aarch64-linux-gnu/9/../../../../aarch64-linux-gnu/include"
|
||||
ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu"
|
||||
ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/include-fixed"
|
||||
ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../x86_64-linux-gnu/include"
|
||||
#include "..." search starts here:
|
||||
#include <...> search starts here:
|
||||
/usr/lib/gcc/aarch64-linux-gnu/9/include
|
||||
/usr/lib/gcc/x86_64-linux-gnu/9/include
|
||||
/usr/local/include
|
||||
/usr/include/aarch64-linux-gnu
|
||||
/usr/include/x86_64-linux-gnu
|
||||
/usr/include
|
||||
End of search list.
|
||||
GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)
|
||||
GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
|
||||
compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP
|
||||
|
||||
GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
|
||||
Compiler executable checksum: bae83efe2e4e7b8eac1a6149e340cc5c
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o' '-c' '-mlittle-endian' '-mabi=lp64'
|
||||
as -v -EL -mabi=lp64 -o CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o /tmp/ccqKfaLB.s
|
||||
GNU assembler version 2.34 (aarch64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34
|
||||
COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/
|
||||
LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../:/lib/:/usr/lib/
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o' '-c' '-mlittle-endian' '-mabi=lp64'
|
||||
Linking C executable cmTC_2b32e
|
||||
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_2b32e.dir/link.txt --verbose=1
|
||||
/usr/bin/cc -v -rdynamic CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o -o cmTC_2b32e
|
||||
Compiler executable checksum: 01da938ff5dc2163489aa33cb3b747a7
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
|
||||
as -v --64 -o CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o /tmp/ccvsoKCc.s
|
||||
GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34
|
||||
COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
|
||||
LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
|
||||
Linking C executable cmTC_cc6e8
|
||||
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_cc6e8.dir/link.txt --verbose=1
|
||||
/usr/bin/cc -v -rdynamic CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o -o cmTC_cc6e8
|
||||
Using built-in specs.
|
||||
COLLECT_GCC=/usr/bin/cc
|
||||
COLLECT_LTO_WRAPPER=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper
|
||||
Target: aarch64-linux-gnu
|
||||
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu
|
||||
COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper
|
||||
OFFLOAD_TARGET_NAMES=nvptx-none:hsa
|
||||
OFFLOAD_TARGET_DEFAULT=1
|
||||
Target: x86_64-linux-gnu
|
||||
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
|
||||
Thread model: posix
|
||||
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
|
||||
COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/
|
||||
LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../:/lib/:/usr/lib/
|
||||
COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_2b32e' '-mlittle-endian' '-mabi=lp64'
|
||||
/usr/lib/gcc/aarch64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/aarch64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccQ8KVx6.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib/ld-linux-aarch64.so.1 -X -EL -maarch64linux --fix-cortex-a53-843419 -pie -z now -z relro -o cmTC_2b32e /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crti.o /usr/lib/gcc/aarch64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/aarch64-linux-gnu/9 -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib -L/lib/aarch64-linux-gnu -L/lib/../lib -L/usr/lib/aarch64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/aarch64-linux-gnu/9/../../.. CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/aarch64-linux-gnu/9/crtendS.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crtn.o
|
||||
COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_2b32e' '-mlittle-endian' '-mabi=lp64'
|
||||
make[1]: Leaving directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
|
||||
LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
|
||||
COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_cc6e8' '-mtune=generic' '-march=x86-64'
|
||||
/usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccf9B6LA.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_cc6e8 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o
|
||||
COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_cc6e8' '-mtune=generic' '-march=x86-64'
|
||||
make[1]: Leaving directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
|
||||
|
||||
|
||||
Parsed C implicit include dir info from above output: rv=done
|
||||
found start of include info
|
||||
found start of implicit include info
|
||||
add: [/usr/lib/gcc/aarch64-linux-gnu/9/include]
|
||||
add: [/usr/lib/gcc/x86_64-linux-gnu/9/include]
|
||||
add: [/usr/local/include]
|
||||
add: [/usr/include/aarch64-linux-gnu]
|
||||
add: [/usr/include/x86_64-linux-gnu]
|
||||
add: [/usr/include]
|
||||
end of search list found
|
||||
collapse include dir [/usr/lib/gcc/aarch64-linux-gnu/9/include] ==> [/usr/lib/gcc/aarch64-linux-gnu/9/include]
|
||||
collapse include dir [/usr/lib/gcc/x86_64-linux-gnu/9/include] ==> [/usr/lib/gcc/x86_64-linux-gnu/9/include]
|
||||
collapse include dir [/usr/local/include] ==> [/usr/local/include]
|
||||
collapse include dir [/usr/include/aarch64-linux-gnu] ==> [/usr/include/aarch64-linux-gnu]
|
||||
collapse include dir [/usr/include/x86_64-linux-gnu] ==> [/usr/include/x86_64-linux-gnu]
|
||||
collapse include dir [/usr/include] ==> [/usr/include]
|
||||
implicit include dirs: [/usr/lib/gcc/aarch64-linux-gnu/9/include;/usr/local/include;/usr/include/aarch64-linux-gnu;/usr/include]
|
||||
implicit include dirs: [/usr/lib/gcc/x86_64-linux-gnu/9/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include]
|
||||
|
||||
|
||||
Parsed C implicit link information from above output:
|
||||
link line regex: [^( *|.*[/\])(ld|CMAKE_LINK_STARTFILE-NOTFOUND|([^/\]+-)?ld|collect2)[^/\]*( |$)]
|
||||
ignore line: [Change Dir: /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp]
|
||||
ignore line: [Change Dir: /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp]
|
||||
ignore line: []
|
||||
ignore line: [Run Build Command(s):/usr/bin/make cmTC_2b32e/fast && /usr/bin/make -f CMakeFiles/cmTC_2b32e.dir/build.make CMakeFiles/cmTC_2b32e.dir/build]
|
||||
ignore line: [make[1]: Entering directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp']
|
||||
ignore line: [Building C object CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o]
|
||||
ignore line: [/usr/bin/cc -v -o CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c]
|
||||
ignore line: [Run Build Command(s):/usr/bin/make cmTC_cc6e8/fast && /usr/bin/make -f CMakeFiles/cmTC_cc6e8.dir/build.make CMakeFiles/cmTC_cc6e8.dir/build]
|
||||
ignore line: [make[1]: Entering directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp']
|
||||
ignore line: [Building C object CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o]
|
||||
ignore line: [/usr/bin/cc -v -o CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c]
|
||||
ignore line: [Using built-in specs.]
|
||||
ignore line: [COLLECT_GCC=/usr/bin/cc]
|
||||
ignore line: [Target: aarch64-linux-gnu]
|
||||
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu]
|
||||
ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:hsa]
|
||||
ignore line: [OFFLOAD_TARGET_DEFAULT=1]
|
||||
ignore line: [Target: x86_64-linux-gnu]
|
||||
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go brig d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
|
||||
ignore line: [Thread model: posix]
|
||||
ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o' '-c' '-mlittle-endian' '-mabi=lp64']
|
||||
ignore line: [ /usr/lib/gcc/aarch64-linux-gnu/9/cc1 -quiet -v -imultiarch aarch64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mlittle-endian -mabi=lp64 -auxbase-strip CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -o /tmp/ccqKfaLB.s]
|
||||
ignore line: [GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
|
||||
ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccvsoKCc.s]
|
||||
ignore line: [GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)]
|
||||
ignore line: [ compiled by GNU C version 9.4.0 GMP version 6.2.0 MPFR version 4.0.2 MPC version 1.1.0 isl version isl-0.22.1-GMP]
|
||||
ignore line: []
|
||||
ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
|
||||
ignore line: [ignoring nonexistent directory "/usr/local/include/aarch64-linux-gnu"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/lib/gcc/aarch64-linux-gnu/9/include-fixed"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/lib/gcc/aarch64-linux-gnu/9/../../../../aarch64-linux-gnu/include"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/include-fixed"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../x86_64-linux-gnu/include"]
|
||||
ignore line: [#include "..." search starts here:]
|
||||
ignore line: [#include <...> search starts here:]
|
||||
ignore line: [ /usr/lib/gcc/aarch64-linux-gnu/9/include]
|
||||
ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/include]
|
||||
ignore line: [ /usr/local/include]
|
||||
ignore line: [ /usr/include/aarch64-linux-gnu]
|
||||
ignore line: [ /usr/include/x86_64-linux-gnu]
|
||||
ignore line: [ /usr/include]
|
||||
ignore line: [End of search list.]
|
||||
ignore line: [GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)]
|
||||
ignore line: [GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)]
|
||||
ignore line: [ compiled by GNU C version 9.4.0 GMP version 6.2.0 MPFR version 4.0.2 MPC version 1.1.0 isl version isl-0.22.1-GMP]
|
||||
ignore line: []
|
||||
ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
|
||||
ignore line: [Compiler executable checksum: bae83efe2e4e7b8eac1a6149e340cc5c]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o' '-c' '-mlittle-endian' '-mabi=lp64']
|
||||
ignore line: [ as -v -EL -mabi=lp64 -o CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o /tmp/ccqKfaLB.s]
|
||||
ignore line: [GNU assembler version 2.34 (aarch64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34]
|
||||
ignore line: [COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/]
|
||||
ignore line: [LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../:/lib/:/usr/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o' '-c' '-mlittle-endian' '-mabi=lp64']
|
||||
ignore line: [Linking C executable cmTC_2b32e]
|
||||
ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_2b32e.dir/link.txt --verbose=1]
|
||||
ignore line: [/usr/bin/cc -v -rdynamic CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o -o cmTC_2b32e ]
|
||||
ignore line: [Compiler executable checksum: 01da938ff5dc2163489aa33cb3b747a7]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
|
||||
ignore line: [ as -v --64 -o CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o /tmp/ccvsoKCc.s]
|
||||
ignore line: [GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34]
|
||||
ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
|
||||
ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
|
||||
ignore line: [Linking C executable cmTC_cc6e8]
|
||||
ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_cc6e8.dir/link.txt --verbose=1]
|
||||
ignore line: [/usr/bin/cc -v -rdynamic CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o -o cmTC_cc6e8 ]
|
||||
ignore line: [Using built-in specs.]
|
||||
ignore line: [COLLECT_GCC=/usr/bin/cc]
|
||||
ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper]
|
||||
ignore line: [Target: aarch64-linux-gnu]
|
||||
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu]
|
||||
ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper]
|
||||
ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:hsa]
|
||||
ignore line: [OFFLOAD_TARGET_DEFAULT=1]
|
||||
ignore line: [Target: x86_64-linux-gnu]
|
||||
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go brig d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
|
||||
ignore line: [Thread model: posix]
|
||||
ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
|
||||
ignore line: [COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/]
|
||||
ignore line: [LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../:/lib/:/usr/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_2b32e' '-mlittle-endian' '-mabi=lp64']
|
||||
link line: [ /usr/lib/gcc/aarch64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/aarch64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccQ8KVx6.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib/ld-linux-aarch64.so.1 -X -EL -maarch64linux --fix-cortex-a53-843419 -pie -z now -z relro -o cmTC_2b32e /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crti.o /usr/lib/gcc/aarch64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/aarch64-linux-gnu/9 -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib -L/lib/aarch64-linux-gnu -L/lib/../lib -L/usr/lib/aarch64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/aarch64-linux-gnu/9/../../.. CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/aarch64-linux-gnu/9/crtendS.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crtn.o]
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/collect2] ==> ignore
|
||||
ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
|
||||
ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_cc6e8' '-mtune=generic' '-march=x86-64']
|
||||
link line: [ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccf9B6LA.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_cc6e8 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o]
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/collect2] ==> ignore
|
||||
arg [-plugin] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/liblto_plugin.so] ==> ignore
|
||||
arg [-plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper] ==> ignore
|
||||
arg [-plugin-opt=-fresolution=/tmp/ccQ8KVx6.res] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so] ==> ignore
|
||||
arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper] ==> ignore
|
||||
arg [-plugin-opt=-fresolution=/tmp/ccf9B6LA.res] ==> ignore
|
||||
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
|
||||
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
|
||||
arg [-plugin-opt=-pass-through=-lc] ==> ignore
|
||||
|
|
@ -180,32 +188,30 @@ Parsed C implicit link information from above output:
|
|||
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
|
||||
arg [--build-id] ==> ignore
|
||||
arg [--eh-frame-hdr] ==> ignore
|
||||
arg [-m] ==> ignore
|
||||
arg [elf_x86_64] ==> ignore
|
||||
arg [--hash-style=gnu] ==> ignore
|
||||
arg [--as-needed] ==> ignore
|
||||
arg [-export-dynamic] ==> ignore
|
||||
arg [-dynamic-linker] ==> ignore
|
||||
arg [/lib/ld-linux-aarch64.so.1] ==> ignore
|
||||
arg [-X] ==> ignore
|
||||
arg [-EL] ==> ignore
|
||||
arg [-maarch64linux] ==> ignore
|
||||
arg [--fix-cortex-a53-843419] ==> ignore
|
||||
arg [/lib64/ld-linux-x86-64.so.2] ==> ignore
|
||||
arg [-pie] ==> ignore
|
||||
arg [-znow] ==> ignore
|
||||
arg [-zrelro] ==> ignore
|
||||
arg [-o] ==> ignore
|
||||
arg [cmTC_2b32e] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crti.o] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/crtbeginS.o] ==> ignore
|
||||
arg [-L/usr/lib/gcc/aarch64-linux-gnu/9] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9]
|
||||
arg [-L/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu]
|
||||
arg [-L/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib]
|
||||
arg [-L/lib/aarch64-linux-gnu] ==> dir [/lib/aarch64-linux-gnu]
|
||||
arg [cmTC_cc6e8] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore
|
||||
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9]
|
||||
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu]
|
||||
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib]
|
||||
arg [-L/lib/x86_64-linux-gnu] ==> dir [/lib/x86_64-linux-gnu]
|
||||
arg [-L/lib/../lib] ==> dir [/lib/../lib]
|
||||
arg [-L/usr/lib/aarch64-linux-gnu] ==> dir [/usr/lib/aarch64-linux-gnu]
|
||||
arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
|
||||
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
|
||||
arg [-L/usr/lib/gcc/aarch64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../..]
|
||||
arg [CMakeFiles/cmTC_2b32e.dir/CMakeCCompilerABI.c.o] ==> ignore
|
||||
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..]
|
||||
arg [CMakeFiles/cmTC_cc6e8.dir/CMakeCCompilerABI.c.o] ==> ignore
|
||||
arg [-lgcc] ==> lib [gcc]
|
||||
arg [--push-state] ==> ignore
|
||||
arg [--as-needed] ==> ignore
|
||||
|
|
@ -217,95 +223,99 @@ Parsed C implicit link information from above output:
|
|||
arg [--as-needed] ==> ignore
|
||||
arg [-lgcc_s] ==> lib [gcc_s]
|
||||
arg [--pop-state] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/crtendS.o] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crtn.o] ==> ignore
|
||||
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/9] ==> [/usr/lib/gcc/aarch64-linux-gnu/9]
|
||||
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu] ==> [/usr/lib/aarch64-linux-gnu]
|
||||
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib] ==> [/usr/lib]
|
||||
collapse library dir [/lib/aarch64-linux-gnu] ==> [/lib/aarch64-linux-gnu]
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o] ==> ignore
|
||||
collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9] ==> [/usr/lib/gcc/x86_64-linux-gnu/9]
|
||||
collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
|
||||
collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib] ==> [/usr/lib]
|
||||
collapse library dir [/lib/x86_64-linux-gnu] ==> [/lib/x86_64-linux-gnu]
|
||||
collapse library dir [/lib/../lib] ==> [/lib]
|
||||
collapse library dir [/usr/lib/aarch64-linux-gnu] ==> [/usr/lib/aarch64-linux-gnu]
|
||||
collapse library dir [/usr/lib/x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
|
||||
collapse library dir [/usr/lib/../lib] ==> [/usr/lib]
|
||||
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../..] ==> [/usr/lib]
|
||||
collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> [/usr/lib]
|
||||
implicit libs: [gcc;gcc_s;c;gcc;gcc_s]
|
||||
implicit dirs: [/usr/lib/gcc/aarch64-linux-gnu/9;/usr/lib/aarch64-linux-gnu;/usr/lib;/lib/aarch64-linux-gnu;/lib]
|
||||
implicit dirs: [/usr/lib/gcc/x86_64-linux-gnu/9;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib]
|
||||
implicit fwks: []
|
||||
|
||||
|
||||
Determining if the CXX compiler works passed with the following output:
|
||||
Change Dir: /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp
|
||||
Change Dir: /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp
|
||||
|
||||
Run Build Command(s):/usr/bin/make cmTC_70261/fast && /usr/bin/make -f CMakeFiles/cmTC_70261.dir/build.make CMakeFiles/cmTC_70261.dir/build
|
||||
make[1]: Entering directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Building CXX object CMakeFiles/cmTC_70261.dir/testCXXCompiler.cxx.o
|
||||
/usr/bin/c++ -o CMakeFiles/cmTC_70261.dir/testCXXCompiler.cxx.o -c /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx
|
||||
Linking CXX executable cmTC_70261
|
||||
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_70261.dir/link.txt --verbose=1
|
||||
/usr/bin/c++ -rdynamic CMakeFiles/cmTC_70261.dir/testCXXCompiler.cxx.o -o cmTC_70261
|
||||
make[1]: Leaving directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Run Build Command(s):/usr/bin/make cmTC_11b4a/fast && /usr/bin/make -f CMakeFiles/cmTC_11b4a.dir/build.make CMakeFiles/cmTC_11b4a.dir/build
|
||||
make[1]: Entering directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Building CXX object CMakeFiles/cmTC_11b4a.dir/testCXXCompiler.cxx.o
|
||||
/usr/bin/c++ -o CMakeFiles/cmTC_11b4a.dir/testCXXCompiler.cxx.o -c /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx
|
||||
Linking CXX executable cmTC_11b4a
|
||||
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_11b4a.dir/link.txt --verbose=1
|
||||
/usr/bin/c++ -rdynamic CMakeFiles/cmTC_11b4a.dir/testCXXCompiler.cxx.o -o cmTC_11b4a
|
||||
make[1]: Leaving directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
|
||||
|
||||
|
||||
Detecting CXX compiler ABI info compiled with the following output:
|
||||
Change Dir: /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp
|
||||
Change Dir: /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp
|
||||
|
||||
Run Build Command(s):/usr/bin/make cmTC_5226c/fast && /usr/bin/make -f CMakeFiles/cmTC_5226c.dir/build.make CMakeFiles/cmTC_5226c.dir/build
|
||||
make[1]: Entering directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Building CXX object CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o
|
||||
/usr/bin/c++ -v -o CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp
|
||||
Run Build Command(s):/usr/bin/make cmTC_9697e/fast && /usr/bin/make -f CMakeFiles/cmTC_9697e.dir/build.make CMakeFiles/cmTC_9697e.dir/build
|
||||
make[1]: Entering directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
Building CXX object CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o
|
||||
/usr/bin/c++ -v -o CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp
|
||||
Using built-in specs.
|
||||
COLLECT_GCC=/usr/bin/c++
|
||||
Target: aarch64-linux-gnu
|
||||
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu
|
||||
OFFLOAD_TARGET_NAMES=nvptx-none:hsa
|
||||
OFFLOAD_TARGET_DEFAULT=1
|
||||
Target: x86_64-linux-gnu
|
||||
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
|
||||
Thread model: posix
|
||||
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64'
|
||||
/usr/lib/gcc/aarch64-linux-gnu/9/cc1plus -quiet -v -imultiarch aarch64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mlittle-endian -mabi=lp64 -auxbase-strip CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -o /tmp/cc5DmJ2O.s
|
||||
GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
|
||||
/usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccO8JeDX.s
|
||||
GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
|
||||
compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP
|
||||
|
||||
GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
|
||||
ignoring duplicate directory "/usr/include/aarch64-linux-gnu/c++/9"
|
||||
ignoring nonexistent directory "/usr/local/include/aarch64-linux-gnu"
|
||||
ignoring nonexistent directory "/usr/lib/gcc/aarch64-linux-gnu/9/include-fixed"
|
||||
ignoring nonexistent directory "/usr/lib/gcc/aarch64-linux-gnu/9/../../../../aarch64-linux-gnu/include"
|
||||
ignoring duplicate directory "/usr/include/x86_64-linux-gnu/c++/9"
|
||||
ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu"
|
||||
ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/include-fixed"
|
||||
ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../x86_64-linux-gnu/include"
|
||||
#include "..." search starts here:
|
||||
#include <...> search starts here:
|
||||
/usr/include/c++/9
|
||||
/usr/include/aarch64-linux-gnu/c++/9
|
||||
/usr/include/x86_64-linux-gnu/c++/9
|
||||
/usr/include/c++/9/backward
|
||||
/usr/lib/gcc/aarch64-linux-gnu/9/include
|
||||
/usr/lib/gcc/x86_64-linux-gnu/9/include
|
||||
/usr/local/include
|
||||
/usr/include/aarch64-linux-gnu
|
||||
/usr/include/x86_64-linux-gnu
|
||||
/usr/include
|
||||
End of search list.
|
||||
GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)
|
||||
GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
|
||||
compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP
|
||||
|
||||
GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
|
||||
Compiler executable checksum: 76f300a9566415b293c4e87b0a05621d
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64'
|
||||
as -v -EL -mabi=lp64 -o CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o /tmp/cc5DmJ2O.s
|
||||
GNU assembler version 2.34 (aarch64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34
|
||||
COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/
|
||||
LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../:/lib/:/usr/lib/
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64'
|
||||
Linking CXX executable cmTC_5226c
|
||||
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_5226c.dir/link.txt --verbose=1
|
||||
/usr/bin/c++ -v -rdynamic CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_5226c
|
||||
Compiler executable checksum: 3d1eba838554fa2348dba760e4770469
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
|
||||
as -v --64 -o CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccO8JeDX.s
|
||||
GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34
|
||||
COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
|
||||
LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
|
||||
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
|
||||
Linking CXX executable cmTC_9697e
|
||||
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_9697e.dir/link.txt --verbose=1
|
||||
/usr/bin/c++ -v -rdynamic CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_9697e
|
||||
Using built-in specs.
|
||||
COLLECT_GCC=/usr/bin/c++
|
||||
COLLECT_LTO_WRAPPER=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper
|
||||
Target: aarch64-linux-gnu
|
||||
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu
|
||||
COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper
|
||||
OFFLOAD_TARGET_NAMES=nvptx-none:hsa
|
||||
OFFLOAD_TARGET_DEFAULT=1
|
||||
Target: x86_64-linux-gnu
|
||||
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
|
||||
Thread model: posix
|
||||
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
|
||||
COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/
|
||||
LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../:/lib/:/usr/lib/
|
||||
COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_5226c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64'
|
||||
/usr/lib/gcc/aarch64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/aarch64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccLokk7f.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib/ld-linux-aarch64.so.1 -X -EL -maarch64linux --fix-cortex-a53-843419 -pie -z now -z relro -o cmTC_5226c /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crti.o /usr/lib/gcc/aarch64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/aarch64-linux-gnu/9 -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib -L/lib/aarch64-linux-gnu -L/lib/../lib -L/usr/lib/aarch64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/aarch64-linux-gnu/9/../../.. CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/aarch64-linux-gnu/9/crtendS.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crtn.o
|
||||
COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_5226c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64'
|
||||
make[1]: Leaving directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
|
||||
LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
|
||||
COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_9697e' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
|
||||
/usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccBrJajk.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_9697e /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o
|
||||
COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_9697e' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
|
||||
make[1]: Leaving directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp'
|
||||
|
||||
|
||||
|
||||
|
|
@ -313,87 +323,91 @@ Parsed CXX implicit include dir info from above output: rv=done
|
|||
found start of include info
|
||||
found start of implicit include info
|
||||
add: [/usr/include/c++/9]
|
||||
add: [/usr/include/aarch64-linux-gnu/c++/9]
|
||||
add: [/usr/include/x86_64-linux-gnu/c++/9]
|
||||
add: [/usr/include/c++/9/backward]
|
||||
add: [/usr/lib/gcc/aarch64-linux-gnu/9/include]
|
||||
add: [/usr/lib/gcc/x86_64-linux-gnu/9/include]
|
||||
add: [/usr/local/include]
|
||||
add: [/usr/include/aarch64-linux-gnu]
|
||||
add: [/usr/include/x86_64-linux-gnu]
|
||||
add: [/usr/include]
|
||||
end of search list found
|
||||
collapse include dir [/usr/include/c++/9] ==> [/usr/include/c++/9]
|
||||
collapse include dir [/usr/include/aarch64-linux-gnu/c++/9] ==> [/usr/include/aarch64-linux-gnu/c++/9]
|
||||
collapse include dir [/usr/include/x86_64-linux-gnu/c++/9] ==> [/usr/include/x86_64-linux-gnu/c++/9]
|
||||
collapse include dir [/usr/include/c++/9/backward] ==> [/usr/include/c++/9/backward]
|
||||
collapse include dir [/usr/lib/gcc/aarch64-linux-gnu/9/include] ==> [/usr/lib/gcc/aarch64-linux-gnu/9/include]
|
||||
collapse include dir [/usr/lib/gcc/x86_64-linux-gnu/9/include] ==> [/usr/lib/gcc/x86_64-linux-gnu/9/include]
|
||||
collapse include dir [/usr/local/include] ==> [/usr/local/include]
|
||||
collapse include dir [/usr/include/aarch64-linux-gnu] ==> [/usr/include/aarch64-linux-gnu]
|
||||
collapse include dir [/usr/include/x86_64-linux-gnu] ==> [/usr/include/x86_64-linux-gnu]
|
||||
collapse include dir [/usr/include] ==> [/usr/include]
|
||||
implicit include dirs: [/usr/include/c++/9;/usr/include/aarch64-linux-gnu/c++/9;/usr/include/c++/9/backward;/usr/lib/gcc/aarch64-linux-gnu/9/include;/usr/local/include;/usr/include/aarch64-linux-gnu;/usr/include]
|
||||
implicit include dirs: [/usr/include/c++/9;/usr/include/x86_64-linux-gnu/c++/9;/usr/include/c++/9/backward;/usr/lib/gcc/x86_64-linux-gnu/9/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include]
|
||||
|
||||
|
||||
Parsed CXX implicit link information from above output:
|
||||
link line regex: [^( *|.*[/\])(ld|CMAKE_LINK_STARTFILE-NOTFOUND|([^/\]+-)?ld|collect2)[^/\]*( |$)]
|
||||
ignore line: [Change Dir: /home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp]
|
||||
ignore line: [Change Dir: /home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp]
|
||||
ignore line: []
|
||||
ignore line: [Run Build Command(s):/usr/bin/make cmTC_5226c/fast && /usr/bin/make -f CMakeFiles/cmTC_5226c.dir/build.make CMakeFiles/cmTC_5226c.dir/build]
|
||||
ignore line: [make[1]: Entering directory '/home/parallels/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp']
|
||||
ignore line: [Building CXX object CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o]
|
||||
ignore line: [/usr/bin/c++ -v -o CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp]
|
||||
ignore line: [Run Build Command(s):/usr/bin/make cmTC_9697e/fast && /usr/bin/make -f CMakeFiles/cmTC_9697e.dir/build.make CMakeFiles/cmTC_9697e.dir/build]
|
||||
ignore line: [make[1]: Entering directory '/home/teddy/Projects/walk-these-ways-go2/go2_gym_deploy/build/CMakeFiles/CMakeTmp']
|
||||
ignore line: [Building CXX object CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o]
|
||||
ignore line: [/usr/bin/c++ -v -o CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp]
|
||||
ignore line: [Using built-in specs.]
|
||||
ignore line: [COLLECT_GCC=/usr/bin/c++]
|
||||
ignore line: [Target: aarch64-linux-gnu]
|
||||
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu]
|
||||
ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:hsa]
|
||||
ignore line: [OFFLOAD_TARGET_DEFAULT=1]
|
||||
ignore line: [Target: x86_64-linux-gnu]
|
||||
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go brig d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
|
||||
ignore line: [Thread model: posix]
|
||||
ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64']
|
||||
ignore line: [ /usr/lib/gcc/aarch64-linux-gnu/9/cc1plus -quiet -v -imultiarch aarch64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mlittle-endian -mabi=lp64 -auxbase-strip CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -o /tmp/cc5DmJ2O.s]
|
||||
ignore line: [GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
|
||||
ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccO8JeDX.s]
|
||||
ignore line: [GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)]
|
||||
ignore line: [ compiled by GNU C version 9.4.0 GMP version 6.2.0 MPFR version 4.0.2 MPC version 1.1.0 isl version isl-0.22.1-GMP]
|
||||
ignore line: []
|
||||
ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
|
||||
ignore line: [ignoring duplicate directory "/usr/include/aarch64-linux-gnu/c++/9"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/local/include/aarch64-linux-gnu"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/lib/gcc/aarch64-linux-gnu/9/include-fixed"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/lib/gcc/aarch64-linux-gnu/9/../../../../aarch64-linux-gnu/include"]
|
||||
ignore line: [ignoring duplicate directory "/usr/include/x86_64-linux-gnu/c++/9"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/include-fixed"]
|
||||
ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../x86_64-linux-gnu/include"]
|
||||
ignore line: [#include "..." search starts here:]
|
||||
ignore line: [#include <...> search starts here:]
|
||||
ignore line: [ /usr/include/c++/9]
|
||||
ignore line: [ /usr/include/aarch64-linux-gnu/c++/9]
|
||||
ignore line: [ /usr/include/x86_64-linux-gnu/c++/9]
|
||||
ignore line: [ /usr/include/c++/9/backward]
|
||||
ignore line: [ /usr/lib/gcc/aarch64-linux-gnu/9/include]
|
||||
ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/include]
|
||||
ignore line: [ /usr/local/include]
|
||||
ignore line: [ /usr/include/aarch64-linux-gnu]
|
||||
ignore line: [ /usr/include/x86_64-linux-gnu]
|
||||
ignore line: [ /usr/include]
|
||||
ignore line: [End of search list.]
|
||||
ignore line: [GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)]
|
||||
ignore line: [GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)]
|
||||
ignore line: [ compiled by GNU C version 9.4.0 GMP version 6.2.0 MPFR version 4.0.2 MPC version 1.1.0 isl version isl-0.22.1-GMP]
|
||||
ignore line: []
|
||||
ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
|
||||
ignore line: [Compiler executable checksum: 76f300a9566415b293c4e87b0a05621d]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64']
|
||||
ignore line: [ as -v -EL -mabi=lp64 -o CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o /tmp/cc5DmJ2O.s]
|
||||
ignore line: [GNU assembler version 2.34 (aarch64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34]
|
||||
ignore line: [COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/]
|
||||
ignore line: [LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../:/lib/:/usr/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64']
|
||||
ignore line: [Linking CXX executable cmTC_5226c]
|
||||
ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_5226c.dir/link.txt --verbose=1]
|
||||
ignore line: [/usr/bin/c++ -v -rdynamic CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_5226c ]
|
||||
ignore line: [Compiler executable checksum: 3d1eba838554fa2348dba760e4770469]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
|
||||
ignore line: [ as -v --64 -o CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccO8JeDX.s]
|
||||
ignore line: [GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34]
|
||||
ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
|
||||
ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
|
||||
ignore line: [Linking CXX executable cmTC_9697e]
|
||||
ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_9697e.dir/link.txt --verbose=1]
|
||||
ignore line: [/usr/bin/c++ -v -rdynamic CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_9697e ]
|
||||
ignore line: [Using built-in specs.]
|
||||
ignore line: [COLLECT_GCC=/usr/bin/c++]
|
||||
ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper]
|
||||
ignore line: [Target: aarch64-linux-gnu]
|
||||
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu]
|
||||
ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper]
|
||||
ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:hsa]
|
||||
ignore line: [OFFLOAD_TARGET_DEFAULT=1]
|
||||
ignore line: [Target: x86_64-linux-gnu]
|
||||
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go brig d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
|
||||
ignore line: [Thread model: posix]
|
||||
ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
|
||||
ignore line: [COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/]
|
||||
ignore line: [LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/9/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/9/../../../:/lib/:/usr/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_5226c' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64']
|
||||
link line: [ /usr/lib/gcc/aarch64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/aarch64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccLokk7f.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib/ld-linux-aarch64.so.1 -X -EL -maarch64linux --fix-cortex-a53-843419 -pie -z now -z relro -o cmTC_5226c /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crti.o /usr/lib/gcc/aarch64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/aarch64-linux-gnu/9 -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib -L/lib/aarch64-linux-gnu -L/lib/../lib -L/usr/lib/aarch64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/aarch64-linux-gnu/9/../../.. CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/aarch64-linux-gnu/9/crtendS.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crtn.o]
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/collect2] ==> ignore
|
||||
ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
|
||||
ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_9697e' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
|
||||
link line: [ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccBrJajk.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_9697e /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o]
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/collect2] ==> ignore
|
||||
arg [-plugin] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/liblto_plugin.so] ==> ignore
|
||||
arg [-plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper] ==> ignore
|
||||
arg [-plugin-opt=-fresolution=/tmp/ccLokk7f.res] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so] ==> ignore
|
||||
arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper] ==> ignore
|
||||
arg [-plugin-opt=-fresolution=/tmp/ccBrJajk.res] ==> ignore
|
||||
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
|
||||
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
|
||||
arg [-plugin-opt=-pass-through=-lc] ==> ignore
|
||||
|
|
@ -401,32 +415,30 @@ Parsed CXX implicit link information from above output:
|
|||
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
|
||||
arg [--build-id] ==> ignore
|
||||
arg [--eh-frame-hdr] ==> ignore
|
||||
arg [-m] ==> ignore
|
||||
arg [elf_x86_64] ==> ignore
|
||||
arg [--hash-style=gnu] ==> ignore
|
||||
arg [--as-needed] ==> ignore
|
||||
arg [-export-dynamic] ==> ignore
|
||||
arg [-dynamic-linker] ==> ignore
|
||||
arg [/lib/ld-linux-aarch64.so.1] ==> ignore
|
||||
arg [-X] ==> ignore
|
||||
arg [-EL] ==> ignore
|
||||
arg [-maarch64linux] ==> ignore
|
||||
arg [--fix-cortex-a53-843419] ==> ignore
|
||||
arg [/lib64/ld-linux-x86-64.so.2] ==> ignore
|
||||
arg [-pie] ==> ignore
|
||||
arg [-znow] ==> ignore
|
||||
arg [-zrelro] ==> ignore
|
||||
arg [-o] ==> ignore
|
||||
arg [cmTC_5226c] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crti.o] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/crtbeginS.o] ==> ignore
|
||||
arg [-L/usr/lib/gcc/aarch64-linux-gnu/9] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9]
|
||||
arg [-L/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu]
|
||||
arg [-L/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib]
|
||||
arg [-L/lib/aarch64-linux-gnu] ==> dir [/lib/aarch64-linux-gnu]
|
||||
arg [cmTC_9697e] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore
|
||||
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9]
|
||||
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu]
|
||||
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib]
|
||||
arg [-L/lib/x86_64-linux-gnu] ==> dir [/lib/x86_64-linux-gnu]
|
||||
arg [-L/lib/../lib] ==> dir [/lib/../lib]
|
||||
arg [-L/usr/lib/aarch64-linux-gnu] ==> dir [/usr/lib/aarch64-linux-gnu]
|
||||
arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
|
||||
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
|
||||
arg [-L/usr/lib/gcc/aarch64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../..]
|
||||
arg [CMakeFiles/cmTC_5226c.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
|
||||
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..]
|
||||
arg [CMakeFiles/cmTC_9697e.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
|
||||
arg [-lstdc++] ==> lib [stdc++]
|
||||
arg [-lm] ==> lib [m]
|
||||
arg [-lgcc_s] ==> lib [gcc_s]
|
||||
|
|
@ -434,18 +446,18 @@ Parsed CXX implicit link information from above output:
|
|||
arg [-lc] ==> lib [c]
|
||||
arg [-lgcc_s] ==> lib [gcc_s]
|
||||
arg [-lgcc] ==> lib [gcc]
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/crtendS.o] ==> ignore
|
||||
arg [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crtn.o] ==> ignore
|
||||
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/9] ==> [/usr/lib/gcc/aarch64-linux-gnu/9]
|
||||
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu] ==> [/usr/lib/aarch64-linux-gnu]
|
||||
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib] ==> [/usr/lib]
|
||||
collapse library dir [/lib/aarch64-linux-gnu] ==> [/lib/aarch64-linux-gnu]
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o] ==> ignore
|
||||
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o] ==> ignore
|
||||
collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9] ==> [/usr/lib/gcc/x86_64-linux-gnu/9]
|
||||
collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
|
||||
collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib] ==> [/usr/lib]
|
||||
collapse library dir [/lib/x86_64-linux-gnu] ==> [/lib/x86_64-linux-gnu]
|
||||
collapse library dir [/lib/../lib] ==> [/lib]
|
||||
collapse library dir [/usr/lib/aarch64-linux-gnu] ==> [/usr/lib/aarch64-linux-gnu]
|
||||
collapse library dir [/usr/lib/x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
|
||||
collapse library dir [/usr/lib/../lib] ==> [/usr/lib]
|
||||
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../..] ==> [/usr/lib]
|
||||
collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> [/usr/lib]
|
||||
implicit libs: [stdc++;m;gcc_s;gcc;c;gcc_s;gcc]
|
||||
implicit dirs: [/usr/lib/gcc/aarch64-linux-gnu/9;/usr/lib/aarch64-linux-gnu;/usr/lib;/lib/aarch64-linux-gnu;/lib]
|
||||
implicit dirs: [/usr/lib/gcc/x86_64-linux-gnu/9;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib]
|
||||
implicit fwks: []
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,54 +0,0 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Generated by "Unix Makefiles" Generator, CMake Version 3.16
|
||||
|
||||
# The generator used is:
|
||||
set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
|
||||
|
||||
# The top level Makefile was generated from the following files:
|
||||
set(CMAKE_MAKEFILE_DEPENDS
|
||||
"CMakeCache.txt"
|
||||
"../CMakeLists.txt"
|
||||
"CMakeFiles/3.16.3/CMakeCCompiler.cmake"
|
||||
"CMakeFiles/3.16.3/CMakeCXXCompiler.cmake"
|
||||
"CMakeFiles/3.16.3/CMakeSystem.cmake"
|
||||
"/usr/local/lib/lcm/cmake/lcmConfig.cmake"
|
||||
"/usr/local/lib/lcm/cmake/lcmConfigVersion.cmake"
|
||||
"/usr/local/lib/lcm/cmake/lcmTargets-noconfig.cmake"
|
||||
"/usr/local/lib/lcm/cmake/lcmTargets.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeCInformation.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeCXXInformation.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeCheckCompilerFlagCommonPatterns.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeCommonLanguageInclude.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeGenericSystem.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeInitializeConfigs.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeLanguageInformation.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeSystemSpecificInformation.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/CMakeSystemSpecificInitialize.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Compiler/CMakeCommonCompilerMacros.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Compiler/GNU-C.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Compiler/GNU-CXX.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Compiler/GNU.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Internal/CMakeCheckCompilerFlag.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Platform/Linux-GNU-C.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Platform/Linux-GNU-CXX.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Platform/Linux-GNU.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Platform/Linux.cmake"
|
||||
"/usr/share/cmake-3.16/Modules/Platform/UnixPaths.cmake"
|
||||
)
|
||||
|
||||
# The corresponding makefile is:
|
||||
set(CMAKE_MAKEFILE_OUTPUTS
|
||||
"Makefile"
|
||||
"CMakeFiles/cmake.check_cache"
|
||||
)
|
||||
|
||||
# Byproducts of CMake generate step:
|
||||
set(CMAKE_MAKEFILE_PRODUCTS
|
||||
"CMakeFiles/CMakeDirectoryInformation.cmake"
|
||||
)
|
||||
|
||||
# Dependency information for all targets:
|
||||
set(CMAKE_DEPEND_INFO_FILES
|
||||
"CMakeFiles/lcm_receive.dir/DependInfo.cmake"
|
||||
"CMakeFiles/lcm_position_go2.dir/DependInfo.cmake"
|
||||
)
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue