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leeeric9527 acauligi weiqiao

bilevel.jl's Issues

Error on installation

Thanks for your sharing.

It is quite an interesting project for me. However, I have little experience with Julia language. I encounter the following problem when using your package, do you have any on fixing the dependency issue?

(Bilevel) pkg> instantiate 
   Installed Libz ────────────── v1.0.1
   Installed FFMPEG ──────────── v0.2.4
   Installed ColorTypes ──────── v0.8.1
   Installed Adapt ───────────── v3.0.0
   Installed Homebrew ────────── v0.7.1
   Installed AbstractFFTs ────── v0.5.0
   Installed StatsBase ───────── v0.32.2
   Installed MbedTLS ─────────── v0.6.8
   Installed Polynomials ─────── v1.2.0
   Installed FFTW ────────────── v1.1.1
   Installed CodecZlib ───────── v0.6.0
   Installed HTTPClient ──────── v0.2.1
   Installed EllipsisNotation ── v1.0.0
   Installed LibExpat ────────── v0.5.0
   Installed BufferedStreams ─── v1.0.0
   Installed FixedPointNumbers ─ v0.6.1
   Installed SpecialFunctions ── v0.8.0
   Installed OpenBLAS32_jll ──── v0.3.9+4
   Installed ZipFile ─────────── v0.8.4
   Installed Graphics ────────── v0.4.0
   Installed WinRPM ──────────── v0.4.2
   Installed Gtk ─────────────── v0.18.0
   Installed EzXML ───────────── v1.0.0
   Installed Colors ──────────── v0.9.6
   Installed Cairo ───────────── v0.6.0
    Building FFMPEG ──────────→ `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/9143266ba77d3313a4cf61d8333a1970e8c5d8b6/build.log`
    Building MbedTLS ─────────→ `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/2d94286a9c2f52c63a16146bb86fd6cdfbf677c6/build.log`
    Building Homebrew ────────→ `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/f01fb2f34675f9839d55ba7238bab63ebd2e531e/build.log`
    Building FFTW ────────────→ `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/e0823a0ea2990b28a8398e958327333e8af53b27/build.log`
    Building CodecZlib ───────→ `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/05916673a2627dd91b4969ff8ba6941bc85a960e/build.log`
    Building WinRPM ──────────→ `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/2a889d320f3b77d17c037f295859fe570133cfbf/build.log`
┌ Warning: Could not use exact versions of packages in manifest, re-resolving
└ @ Pkg.Operations /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.6/Pkg/src/Operations.jl:1524
    Building Cairo ───────────→ `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/e577cb41e7e2641f4b97f1b6dbcb9a69c9288330/build.log`
┌ Warning: Could not use exact versions of packages in manifest, re-resolving
└ @ Pkg.Operations /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.6/Pkg/src/Operations.jl:1524
ERROR: Error building `Cairo`, showing the last 100 of log: 
  162 | #define G_STATIC_ASSERT(expr) typedef char G_PASTE (_GStaticAssertCompileTimeAssertion_, __COUNTER__)[(expr) ? 1 : -1]
      |                                            ^~~~~~~
/home/qzhang419/.julia/packages/Cairo/p68X8/deps/src/glib-2.34.3/glib/gthread.h:241:5: note: in expansion of macro 'G_STATIC_ASSERT'
  241 |     G_STATIC_ASSERT (sizeof *(location) == sizeof (gpointer));       \
      |     ^~~~~~~~~~~~~~~
/home/qzhang419/.julia/packages/Cairo/p68X8/deps/src/glib-2.34.3/gobject/gtype.h:1477:7: note: in expansion of macro 'g_once_init_leave'
 1477 |       g_once_init_leave (&g_define_type_id__volatile, g_define_type_id); \
      |       ^~~~~~~~~~~~~~~~~
/home/qzhang419/.julia/packages/Cairo/p68X8/deps/src/glib-2.34.3/gobject/gtype.h:1294:111: note: in expansion of macro '_G_DEFINE_TYPE_EXTENDED_END'
 1294 | #define G_DEFINE_TYPE_WITH_CODE(TN, t_n, T_P, _C_)     _G_DEFINE_TYPE_EXTENDED_BEGIN (TN, t_n, T_P, 0) {_C_;} _G_DEFINE_TYPE_EXTENDED_END()
      |                                                                                                               ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/qzhang419/.julia/packages/Cairo/p68X8/deps/src/glib-2.34.3/gio/gsocks5proxy.c:88:1: note: in expansion of macro 'G_DEFINE_TYPE_WITH_CODE'
   88 | G_DEFINE_TYPE_WITH_CODE (GSocks5Proxy, g_socks5_proxy, G_TYPE_OBJECT,
      | ^~~~~~~~~~~~~~~~~~~~~~~
  CC       glib-compile-schemas.o
  CC       glib-compile-resources.o
  CC       gsettings-tool.o
  CC       gdbus-tool.o
  CC       gresource-gresource-tool.o
  GEN      gio-public-headers.txt
  CCLD     libgio-2.0.la
  CCLD     gio-querymodules
  CCLD     glib-compile-resources
  CCLD     gresource
  CCLD     gsettings
  CCLD     glib-compile-schemas
  CCLD     gdbus
/usr/bin/ld: ./.libs/libgio-2.0.so: undefined reference to `minor'
/usr/bin/ld: ./.libs/libgio-2.0.so: undefined reference to `major'
collect2: error: ld returned 1 exit status
/usr/bin/ld: ./.libs/libgio-2.0.so: undefined reference to `minor'
/usr/bin/ld: ./.libs/libgio-2.0.so: undefined reference to `major'
collect2: error: ld returned 1 exit status
make[4]: *** [Makefile:1476: gresource] Error 1
make[4]: *** Waiting for unfinished jobs....
make[4]: *** [Makefile:1470: glib-compile-resources] Error 1
/usr/bin/ld: ./.libs/libgio-2.0.so: undefined reference to `minor'
/usr/bin/ld: ./.libs/libgio-2.0.so: undefined reference to `major'
collect2: error: ld returned 1 exit status
make[4]: *** [Makefile:1479: gsettings] Error 1
/usr/bin/ld: ./.libs/libgio-2.0.so: undefined reference to `minor'
/usr/bin/ld: ./.libs/libgio-2.0.so: undefined reference to `major'
collect2: error: ld returned 1 exit status
make[4]: *** [Makefile:1464: gdbus] Error 1
make[4]: Leaving directory '/home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gobject/gio'
make[3]: *** [Makefile:3174: all-recursive] Error 1
make[3]: Leaving directory '/home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gobject/gio'
make[2]: *** [Makefile:1343: all] Error 2
make[2]: Leaving directory '/home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gobject/gio'
make[1]: *** [Makefile:684: all-recursive] Error 1
make[1]: Leaving directory '/home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gobject'
make: *** [Makefile:495: all] Error 2
[ Info: Attempting to create directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps/downloads
[ Info: Downloading file http://ftp.gnu.org/pub/gnu/gettext/gettext-0.18.2.tar.gz
[ Info: Done downloading file http://ftp.gnu.org/pub/gnu/gettext/gettext-0.18.2.tar.gz
[ Info: Attempting to create directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps/src
[ Info: Attempting to create directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps
[ Info: Directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps already exists
[ Info: Attempting to create directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gettext
[ Info: Changing directory to /home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gettext
[ Info: Changing directory to /home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gettext
[ Info: Changing directory to /home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gettext
[ Info: Attempting to create directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps/downloads
[ Info: Directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps/downloads already exists
[ Info: Downloading file http://ftp.gnome.org/pub/gnome/sources/glib/2.34/glib-2.34.3.tar.xz
[ Info: Done downloading file http://ftp.gnome.org/pub/gnome/sources/glib/2.34/glib-2.34.3.tar.xz
[ Info: Attempting to create directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps/src
[ Info: Directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps/src already exists
[ Info: Attempting to create directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps
[ Info: Directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps already exists
[ Info: Attempting to create directory /home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gobject
[ Info: Changing directory to /home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gobject
[ Info: Changing directory to /home/qzhang419/.julia/packages/Cairo/p68X8/deps/builds/gobject
ERROR: LoadError: failed process: Process(setenv(`make -j8`,["EDITOR=vim", "PATH=/home/qzhang419/.julia/packages/Cairo/p68X8/deps/usr/bin:/home/qzhang419/.poetry/bin:/home/qzhang419/.gems/bin:/home/qzhang419/usr/local/bin:/home/qzhang419/jam/bin:/home/qzhang419/.dotfiles/bin:/home/qzhang419/.zqs_bin:/home/qzhang419/.local/bin:/home/qzhang419/.poetry/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/qzhang419/.fzf/bin", "NODE_PATH=/home/qzhang419/usr/share/atom/resources/app.asar/exports", "DEFAULTS_PATH=/usr/share/gconf/ubuntu.default.path", "QT_ACCESSIBILITY=1", "NO_AT_BRIDGE=1", "INVOCATION_ID=e3add8f4365b4efbb5d9571438a03867", "IM_CONFIG_PHASE=1", "DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1056110/bus", "NODE_ENV=production"  …  "JULIA_LOAD_PATH=@:/tmp/jl_s1zDLB", "PKG_CONFIG_PATH=/home/qzhang419/.julia/packages/Cairo/p68X8/deps/usr/lib/pkgconfig", "FZF_DEFAULT_COMMAND=fd --type file --follow --hidden --exclude .git --color=always", "HOME=/home/qzhang419", "TERM=xterm-256color", "WINDOWPATH=2", "LS_COLORS=no=00;38;5;244:rs=0:di=00;38;5;33:ln=00;38;5;37:mh=00:pi=48;5;230;38;5;136;01:so=48;5;230;38;5;136;01:do=48;5;230;38;5;136;01:bd=48;5;230;38;5;244;01:cd=48;5;230;38;5;244;01:or=48;5;235;38;5;160:su=48;5;160;38;5;230:sg=48;5;136;38;5;230:ca=30;41:tw=48;5;64;38;5;230:ow=48;5;235;38;5;33:st=48;5;33;38;5;230:ex=00;38;5;64:*.tar=00;38;5;61:*.tgz=00;38;5;61:*.arj=00;38;5;61:*.taz=00;38;5;61:*.lzh=00;38;5;61:*.lzma=00;38;5;61:*.tlz=00;38;5;61:*.txz=00;38;5;61:*.zip=00;38;5;61:*.z=00;38;5;61:*.Z=00;38;5;61:*.dz=00;38;5;61:*.gz=00;38;5;61:*.lz=00;38;5;61:*.xz=00;38;5;61:*.bz2=00;38;5;61:*.bz=00;38;5;61:*.tbz=00;38;5;61:*.tbz2=00;38;5;61:*.tz=00;38;5;61:*.deb=00;38;5;61:*.rpm=00;38;5;61:*.jar=00;38;5;61:*.rar=00;38;5;61:*.ace=00;38;5;61:*.zoo=00;38;5;61:*.cpio=00;38;5;61:*.7z=00;38;5;61:*.rz=00;38;5;61:*.apk=00;38;5;61:*.gem=00;38;5;61:*.jpg=00;38;5;136:*.JPG=00;38;5;136:*.jpeg=00;38;5;136:*.gif=00;38;5;136:*.bmp=00;38;5;136:*.pbm=00;38;5;136:*.pgm=00;38;5;136:*.ppm=00;38;5;136:*.tga=00;38;5;136:*.xbm=00;38;5;136:*.xpm=00;38;5;136:*.tif=00;38;5;136:*.tiff=00;38;5;136:*.png=00;38;5;136:*.PNG=00;38;5;136:*.svg=00;38;5;136:*.svgz=00;38;5;136:*.mng=00;38;5;136:*.pcx=00;38;5;136:*.dl=00;38;5;136:*.xcf=00;38;5;136:*.xwd=00;38;5;136:*.yuv=00;38;5;136:*.cgm=00;38;5;136:*.emf=00;38;5;136:*.eps=00;38;5;136:*.CR2=00;38;5;136:*.ico=00;38;5;136:*.nef=00;38;5;136:*.NEF=00;38;5;136:*.tex=00;38;5;245:*.rdf=00;38;5;245:*.owl=00;38;5;245:*.n3=00;38;5;245:*.ttl=00;38;5;245:*.nt=00;38;5;245:*.torrent=00;38;5;245:*.xml=00;38;5;245:*Makefile=00;38;5;245:*Rakefile=00;38;5;245:*Dockerfile=00;38;5;245:*build.xml=00;38;5;245:*rc=00;38;5;245:*1=00;38;5;245:*.nfo=00;38;5;245:*README=00;38;5;245:*README.txt=00;38;5;245:*readme.txt=00;38;5;245:*.md=00;38;5;245:*README.markdown=00;38;5;245:*.ini=00;38;5;245:*.yml=00;38;5;245:*.cfg=00;38;5;245:*.conf=00;38;5;245:*.h=00;38;5;245:*.hpp=00;38;5;245:*.c=00;38;5;245:*.cpp=00;38;5;245:*.cxx=00;38;5;245:*.cc=00;38;5;245:*.objc=00;38;5;245:*.sqlite=00;38;5;245:*.go=00;38;5;245:*.sql=00;38;5;245:*.csv=00;38;5;245:*.log=00;38;5;240:*.bak=00;38;5;240:*.aux=00;38;5;240:*.lof=00;38;5;240:*.lol=00;38;5;240:*.lot=00;38;5;240:*.out=00;38;5;240:*.toc=00;38;5;240:*.bbl=00;38;5;240:*.blg=00;38;5;240:*~=00;38;5;240:*#=00;38;5;240:*.part=00;38;5;240:*.incomplete=00;38;5;240:*.swp=00;38;5;240:*.tmp=00;38;5;240:*.temp=00;38;5;240:*.o=00;38;5;240:*.pyc=00;38;5;240:*.class=00;38;5;240:*.cache=00;38;5;240:*.aac=00;38;5;166:*.au=00;38;5;166:*.flac=00;38;5;166:*.mid=00;38;5;166:*.midi=00;38;5;166:*.mka=00;38;5;166:*.mp3=00;38;5;166:*.mpc=00;38;5;166:*.ogg=00;38;5;166:*.opus=00;38;5;166:*.ra=00;38;5;166:*.wav=00;38;5;166:*.m4a=00;38;5;166:*.axa=00;38;5;166:*.oga=00;38;5;166:*.spx=00;38;5;166:*.xspf=00;38;5;166:*.mov=00;38;5;166:*.MOV=00;38;5;166:*.mpg=00;38;5;166:*.mpeg=00;38;5;166:*.m2v=00;38;5;166:*.mkv=00;38;5;166:*.ogm=00;38;5;166:*.mp4=00;38;5;166:*.m4v=00;38;5;166:*.mp4v=00;38;5;166:*.vob=00;38;5;166:*.qt=00;38;5;166:*.nuv=00;38;5;166:*.wmv=00;38;5;166:*.asf=00;38;5;166:*.rm=00;38;5;166:*.rmvb=00;38;5;166:*.flc=00;38;5;166:*.avi=00;38;5;166:*.fli=00;38;5;166:*.flv=00;38;5;166:*.gl=00;38;5;166:*.m2ts=00;38;5;166:*.divx=00;38;5;166:*.webm=00;38;5;166:*.axv=00;38;5;166:*.anx=00;38;5;166:*.ogv=00;38;5;166:*.ogx=00;38;5;166:*.vo=00;38;5;240:*.v.d=00;38;5;240:*.glob=00;38;5;240:", "COLORTERM=truecolor", "OPENBLAS_MAIN_FREE=1", "VTE_VERSION=6003"]), ProcessExited(2)) [2]

Stacktrace:
  [1] pipeline_error
    @ ./process.jl:525 [inlined]
  [2] run(::Cmd; wait::Bool)
    @ Base ./process.jl:440
  [3] run(::Cmd)
    @ Base ./process.jl:438
  [4] run(s::BinDeps.SynchronousStepCollection)
    @ BinDeps ~/.julia/packages/BinDeps/ZEval/src/BinDeps.jl:521
  [5] run(s::FileRule)
    @ BinDeps ~/.julia/packages/BinDeps/ZEval/src/BinDeps.jl:483
  [6] run(s::BinDeps.SynchronousStepCollection) (repeats 2 times)
    @ BinDeps ~/.julia/packages/BinDeps/ZEval/src/BinDeps.jl:521
  [7] satisfy!(dep::BinDeps.LibraryDependency, methods::Vector{DataType})
    @ BinDeps ~/.julia/packages/BinDeps/ZEval/src/dependencies.jl:944
  [8] satisfy!(deps::BinDeps.LibraryGroup, methods::Vector{DataType})
    @ BinDeps ~/.julia/packages/BinDeps/ZEval/src/dependencies.jl:910
  [9] satisfy!(deps::BinDeps.LibraryGroup)
    @ BinDeps ~/.julia/packages/BinDeps/ZEval/src/dependencies.jl:874
 [10] top-level scope
    @ ~/.julia/packages/BinDeps/ZEval/src/dependencies.jl:977
 [11] include(fname::String)
    @ Base.MainInclude ./client.jl:444
 [12] top-level scope
    @ none:5
in expression starting at /home/qzhang419/.julia/packages/Cairo/p68X8/deps/build.jl:176

Full log at /home/qzhang419/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/e577cb41e7e2641f4b97f1b6dbcb9a69c9288330/build.log

I am using v1.6 Julia in Ubuntu20.04.

Thanks

Inconsistencies in equations

Hi,
I've been going through the equations in the paper and found the following inconsistencies:

The mass matrix is computed from q_i instead of q_{i+1} here.
Similarly the torques tau_i (u0) are used in the code here instead of tau_{i+1} used in the paper. Is this a convention to store m-1 and u0 does indeed refer to tau_{i+1}?
Qd and rd in the code don't match the paper. It seems the contact Jacobian is defined differently. Is that correct?

Additionally, the torque vector tau is size n+6 for floating based systems as defined here. Wouldn't this allow the planner to apply forces/torques directly on the floating base?
Most dynamics equations define tau as size n and pre-multiply it with a selection matrix to get a vector of size n+6. The paper uses the equation for a manipulator so the derivation in the paper is correct.

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