Where2Act: From Pixels to Actions for Articulated 3D Objects

Related tags

Deep Learning where2act
Overview

Where2Act: From Pixels to Actions for Articulated 3D Objects

Overview

The Proposed Where2Act Task. Given as input an articulated 3D object, we learn to propose the actionable information for different robotic manipulation primitives (e.g. pushing, pulling): (a) the predicted actionability scores over pixels; (b) the proposed interaction trajectories, along with (c) their success likelihoods, for a selected pixel highlighted in red. We show two high-rated proposals (left) and two with lower scores (right) due to interaction orientations and potential robot-object collisions.

Introduction

One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related to elementary actions such as pushing or pulling for articulated objects with movable parts. For example, given a drawer, our network predicts that applying a pulling force on the handle opens the drawer. We propose, discuss, and evaluate novel network architectures that given image and depth data, predict the set of actions possible at each pixel, and the regions over articulated parts that are likely to move under the force. We propose a learning-from-interaction framework with an online data sampling strategy that allows us to train the network in simulation (SAPIEN) and generalizes across categories. But more importantly, our learned models even transfer to real-world data.

About the paper

Our team: Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, and Shubham Tulsiani from Stanford University and FaceBook AI Research.

Arxiv Version: https://arxiv.org/abs/2101.02692

Project Page: https://cs.stanford.edu/~kaichun/where2act

Citations

@article{Mo21Where2Act,
    Author = {Mo, Kaichun and Guibas, Leonidas and Mukadam, Mustafa and Gupta, Abhinav and Tulsiani, Shubham},
    Title = {{Where2Act}: From Pixels to Actions for Articulated 3D Objects},
    Year = {2021},
    Eprint = {arXiv:2101.02692},
}

About this repository

This repository provides data and code as follows.

    data/                   # contains data, models, results, logs
    code/                   # contains code and scripts
         # please follow `code/README.md` to run the code
    stats/                  # contains helper statistics

Questions

Please post issues for questions and more helps on this Github repo page. We encourage using Github issues instead of sending us emails since your questions may benefit others.

License

MIT Licence

Updates

  • [Jan 15, 2021] Preliminary version of Data and Code released. For more code on evaluation, stay tuned.
Comments
  • from geometry_utils import load_obj, export_obj

    from geometry_utils import load_obj, export_obj

    Hi!Great work on the Where2Act research work. I am quite inspired by your work.

    Could you help me solve the problems I have in operation?

    1.when I run 'bash scripts/run_gen_offline_data.sh' in the terminal, I just generated one file 'log.txt' and It contains only two lines.am i right?

    image

    2.when I run 'bash scripts/run_train_3d_critic.sh' in the terminal, It can't find the 'load_obj'.

    image

    Thanks.

    opened by HanHan55 5
  • every time got the 'unsuccessful interaction'

    every time got the 'unsuccessful interaction'

    Hi ~ I am back... When I run the python collect_data.py 40147 StorageFurniture 0 pushing , I got this GUI. image

    But I still don't know how to control this gripper to push a drawer. just wait for it automatically??? And I don't know how to use the object properties. Every time when I press the 'q', I would get the 'unsuccessful interaction'. image

    How can I successfully run your code?

    opened by liangxuejingjing 3
  • glfw error

    glfw error

    Hi I'm trying to run the demo

    python collect_data.py 40147 StorageFurniture 0 pushing --no_gui --out_dir output

    I do not have a ubuntu machine with gui so I'm trying to install it on the server. I use python 3.6 to replicate exactly the same python environment. However, it seems glfw has some error

    Using default glsl path /private/home/syqian/.conda/envs/sapien/lib/python3.6/site-packages/sapien/glsl_shader/130
Vulkan enabled
error: Could not initialize GLFW

    I know this is probably more related to sapien. However, after checking the sapien release, I'm not able to find sapien 0.8. https://pypi.org/project/sapien/0.7.1.dev0/#history They only has 0.7.1 has 1.0.0.

    I can run sapien 1.0/1.1 demo successfully. So it seems that my glfw is installed correctly.

    I wonder if you have any thoughts? Thank you!

    opened by JasonQSY 2
  • Failed to build pointnet2-ops

    Failed to build pointnet2-ops

    Hi， when I run 'pip install -r requirements.txt'，but got many mistakes：Failed to build pointnet2-ops I used the ubuntu20.04, cuda driver 11.1, python3.6, pytorch1.7.1, gcc 9.3.0, please tell me how to deal with...thx

    ERROR: Command errored out with exit status 1:
     command: /home/Jing/anaconda3/envs/SAPIEN/bin/python -u -c 'import sys, setuptools, tokenize; sys.argv[0] = '"'"'/tmp/pip-req-build-5jkb37_5/setup.py'"'"'; __file__='"'"'/tmp/pip-req-build-5jkb37_5/setup.py'"'"';f=getattr(tokenize, '"'"'open'"'"', open)(__file__);code=f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, __file__, '"'"'exec'"'"'))' install --record /tmp/pip-record-dm7mj6u4/install-record.txt --single-version-externally-managed --compile --install-headers /home/Jing/anaconda3/envs/SAPIEN/include/python3.6m/pointnet2-ops
         cwd: /tmp/pip-req-build-5jkb37_5/
    Complete output (215 lines):
    running install
    running build
    running build_py
    creating build
    creating build/lib.linux-x86_64-3.6
    creating build/lib.linux-x86_64-3.6/pointnet2_ops
    copying pointnet2_ops/_version.py -> build/lib.linux-x86_64-3.6/pointnet2_ops
    copying pointnet2_ops/pointnet2_utils.py -> build/lib.linux-x86_64-3.6/pointnet2_ops
    copying pointnet2_ops/__init__.py -> build/lib.linux-x86_64-3.6/pointnet2_ops
    copying pointnet2_ops/pointnet2_modules.py -> build/lib.linux-x86_64-3.6/pointnet2_ops
    running egg_info
    writing pointnet2_ops.egg-info/PKG-INFO
    writing dependency_links to pointnet2_ops.egg-info/dependency_links.txt
    writing requirements to pointnet2_ops.egg-info/requires.txt
    writing top-level names to pointnet2_ops.egg-info/top_level.txt
    reading manifest file 'pointnet2_ops.egg-info/SOURCES.txt'
    reading manifest template 'MANIFEST.in'
    writing manifest file 'pointnet2_ops.egg-info/SOURCES.txt'
    creating build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src
    creating build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/include
    copying pointnet2_ops/_ext-src/include/ball_query.h -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/include
    copying pointnet2_ops/_ext-src/include/cuda_utils.h -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/include
    copying pointnet2_ops/_ext-src/include/group_points.h -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/include
    copying pointnet2_ops/_ext-src/include/interpolate.h -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/include
    copying pointnet2_ops/_ext-src/include/sampling.h -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/include
    copying pointnet2_ops/_ext-src/include/utils.h -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/include
    creating build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/ball_query.cpp -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/ball_query_gpu.cu -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/bindings.cpp -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/group_points.cpp -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/group_points_gpu.cu -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/interpolate.cpp -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/interpolate_gpu.cu -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/sampling.cpp -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    copying pointnet2_ops/_ext-src/src/sampling_gpu.cu -> build/lib.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    running build_ext
    building 'pointnet2_ops._ext' extension
    creating /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6
    creating /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops
    creating /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src
    creating /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src
    Emitting ninja build file /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/build.ninja...
    Compiling objects...
    Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
    [1/9] :/usr/local/cuda-11.1/bin/nvcc -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/sampling_gpu.cu -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/sampling_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -Xfatbin -compress-all -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_37,code=compute_37 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_70,code=sm_70 -std=c++14
    FAILED: /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/sampling_gpu.o
    :/usr/local/cuda-11.1/bin/nvcc -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/sampling_gpu.cu -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/sampling_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -Xfatbin -compress-all -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_37,code=compute_37 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_70,code=sm_70 -std=c++14
    /bin/sh: 1: :/usr/local/cuda-11.1/bin/nvcc: not found
    [2/9] :/usr/local/cuda-11.1/bin/nvcc -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/interpolate_gpu.cu -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/interpolate_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -Xfatbin -compress-all -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_37,code=compute_37 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_70,code=sm_70 -std=c++14
    FAILED: /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/interpolate_gpu.o
    :/usr/local/cuda-11.1/bin/nvcc -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/interpolate_gpu.cu -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/interpolate_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -Xfatbin -compress-all -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_37,code=compute_37 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_70,code=sm_70 -std=c++14
    /bin/sh: 1: :/usr/local/cuda-11.1/bin/nvcc: not found
    [3/9] :/usr/local/cuda-11.1/bin/nvcc -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/ball_query_gpu.cu -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/ball_query_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -Xfatbin -compress-all -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_37,code=compute_37 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_70,code=sm_70 -std=c++14
    FAILED: /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/ball_query_gpu.o
    :/usr/local/cuda-11.1/bin/nvcc -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/ball_query_gpu.cu -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/ball_query_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -Xfatbin -compress-all -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_37,code=compute_37 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_70,code=sm_70 -std=c++14
    /bin/sh: 1: :/usr/local/cuda-11.1/bin/nvcc: not found
    [4/9] :/usr/local/cuda-11.1/bin/nvcc -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/group_points_gpu.cu -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/group_points_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -Xfatbin -compress-all -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_37,code=compute_37 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_70,code=sm_70 -std=c++14
    FAILED: /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/group_points_gpu.o
    :/usr/local/cuda-11.1/bin/nvcc -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/group_points_gpu.cu -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/group_points_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -Xfatbin -compress-all -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_37,code=compute_37 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_70,code=sm_70 -std=c++14
    /bin/sh: 1: :/usr/local/cuda-11.1/bin/nvcc: not found
    [5/9] c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/group_points.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/group_points.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/group_points.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    FAILED: /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/group_points.o
    c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/group_points.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/group_points.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/group_points.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
    In file included from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/Parallel.h:149,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/utils.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn/cloneable.h:5,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/all.h:12,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/extension.h:4,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/group_points.h:2,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/group_points.cpp:1:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/ParallelOpenMP.h:84: warning: ignoring #pragma omp parallel [-Wunknown-pragmas]
       84 | #pragma omp parallel for if ((end - begin) >= grain_size)
          |
    In file included from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/utils.h:2,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/group_points.cpp:2:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/cuda/CUDAContext.h:5:10: fatal error: cuda_runtime_api.h: No such file or directory
        5 | #include <cuda_runtime_api.h>
          |          ^~~~~~~~~~~~~~~~~~~~
    compilation terminated.
    [6/9] c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/interpolate.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/interpolate.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/interpolate.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    FAILED: /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/interpolate.o
    c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/interpolate.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/interpolate.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/interpolate.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
    In file included from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/Parallel.h:149,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/utils.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn/cloneable.h:5,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/all.h:12,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/extension.h:4,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/interpolate.h:3,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/interpolate.cpp:1:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/ParallelOpenMP.h:84: warning: ignoring #pragma omp parallel [-Wunknown-pragmas]
       84 | #pragma omp parallel for if ((end - begin) >= grain_size)
          |
    In file included from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/utils.h:2,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/interpolate.cpp:2:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/cuda/CUDAContext.h:5:10: fatal error: cuda_runtime_api.h: No such file or directory
        5 | #include <cuda_runtime_api.h>
          |          ^~~~~~~~~~~~~~~~~~~~
    compilation terminated.
    [7/9] c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/ball_query.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/ball_query.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/ball_query.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    FAILED: /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/ball_query.o
    c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/ball_query.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/ball_query.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/ball_query.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
    In file included from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/Parallel.h:149,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/utils.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn/cloneable.h:5,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/all.h:12,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/extension.h:4,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/ball_query.h:2,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/ball_query.cpp:1:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/ParallelOpenMP.h:84: warning: ignoring #pragma omp parallel [-Wunknown-pragmas]
       84 | #pragma omp parallel for if ((end - begin) >= grain_size)
          |
    In file included from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/utils.h:2,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/ball_query.cpp:2:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/cuda/CUDAContext.h:5:10: fatal error: cuda_runtime_api.h: No such file or directory
        5 | #include <cuda_runtime_api.h>
          |          ^~~~~~~~~~~~~~~~~~~~
    compilation terminated.
    [8/9] c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/sampling.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/sampling.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/sampling.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    FAILED: /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/sampling.o
    c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/sampling.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/sampling.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/sampling.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
    In file included from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/Parallel.h:149,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/utils.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn/cloneable.h:5,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/all.h:12,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/extension.h:4,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/sampling.h:2,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/sampling.cpp:1:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/ParallelOpenMP.h:84: warning: ignoring #pragma omp parallel [-Wunknown-pragmas]
       84 | #pragma omp parallel for if ((end - begin) >= grain_size)
          |
    In file included from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/utils.h:2,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/sampling.cpp:2:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/cuda/CUDAContext.h:5:10: fatal error: cuda_runtime_api.h: No such file or directory
        5 | #include <cuda_runtime_api.h>
          |          ^~~~~~~~~~~~~~~~~~~~
    compilation terminated.
    [9/9] c++ -MMD -MF /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/bindings.o.d -pthread -B /home/Jing/anaconda3/envs/SAPIEN/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/TH -I/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/THC -I:/usr/local/cuda-11.1/include -I/home/Jing/anaconda3/envs/SAPIEN/include/python3.6m -c -c /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/bindings.cpp -o /tmp/pip-req-build-5jkb37_5/build/temp.linux-x86_64-3.6/pointnet2_ops/_ext-src/src/bindings.o -O3 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
    cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
    In file included from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/Parallel.h:149,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/utils.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn/cloneable.h:5,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/nn.h:3,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/csrc/api/include/torch/all.h:12,
                     from /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/torch/extension.h:4,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/include/ball_query.h:2,
                     from /tmp/pip-req-build-5jkb37_5/pointnet2_ops/_ext-src/src/bindings.cpp:1:
    /home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/include/ATen/ParallelOpenMP.h:84: warning: ignoring #pragma omp parallel [-Wunknown-pragmas]
       84 | #pragma omp parallel for if ((end - begin) >= grain_size)
          |
    ninja: build stopped: subcommand failed.
    Traceback (most recent call last):
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 1539, in _run_ninja_build
        env=env)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/subprocess.py", line 438, in run
        output=stdout, stderr=stderr)
    subprocess.CalledProcessError: Command '['ninja', '-v']' returned non-zero exit status 1.

    The above exception was the direct cause of the following exception:

    Traceback (most recent call last):
      File "<string>", line 1, in <module>
      File "/tmp/pip-req-build-5jkb37_5/setup.py", line 38, in <module>
        include_package_data=True,
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/setuptools/__init__.py", line 153, in setup
        return distutils.core.setup(**attrs)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/core.py", line 148, in setup
        dist.run_commands()
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/dist.py", line 955, in run_commands
        self.run_command(cmd)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/dist.py", line 974, in run_command
        cmd_obj.run()
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/setuptools/command/install.py", line 61, in run
        return orig.install.run(self)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/command/install.py", line 545, in run
        self.run_command('build')
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/cmd.py", line 313, in run_command
        self.distribution.run_command(command)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/dist.py", line 974, in run_command
        cmd_obj.run()
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/command/build.py", line 135, in run
        self.run_command(cmd_name)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/cmd.py", line 313, in run_command
        self.distribution.run_command(command)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/dist.py", line 974, in run_command
        cmd_obj.run()
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/setuptools/command/build_ext.py", line 79, in run
        _build_ext.run(self)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/command/build_ext.py", line 339, in run
        self.build_extensions()
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 670, in build_extensions
        build_ext.build_extensions(self)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/command/build_ext.py", line 448, in build_extensions
        self._build_extensions_serial()
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/command/build_ext.py", line 473, in _build_extensions_serial
        self.build_extension(ext)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/setuptools/command/build_ext.py", line 196, in build_extension
        _build_ext.build_extension(self, ext)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/distutils/command/build_ext.py", line 533, in build_extension
        depends=ext.depends)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 500, in unix_wrap_ninja_compile
        with_cuda=with_cuda)
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 1255, in _write_ninja_file_and_compile_objects
        error_prefix='Error compiling objects for extension')
      File "/home/Jing/anaconda3/envs/SAPIEN/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 1555, in _run_ninja_build
        raise RuntimeError(message) from e
    RuntimeError: Error compiling objects for extension
    ----------------------------------------
ERROR: Command errored out with exit status 1: /home/Jing/anaconda3/envs/SAPIEN/bin/python -u -c 'import sys, setuptools, tokenize; sys.argv[0] = '"'"'/tmp/pip-req-build-5jkb37_5/setup.py'"'"'; __file__='"'"'/tmp/pip-req-build-5jkb37_5/setup.py'"'"';f=getattr(tokenize, '"'"'open'"'"', open)(__file__);code=f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, __file__, '"'"'exec'"'"'))' install --record /tmp/pip-record-dm7mj6u4/install-record.txt --single-version-externally-managed --compile --install-headers /home/Jing/anaconda3/envs/SAPIEN/include/python3.6m/pointnet2-ops Check the logs for full command output.

    I have solved this question accoding to your reply. thx a lot!

    opened by liangxuejingjing 2
  • “gripper_direction_world” and

    “gripper_direction_world” and "gripper_forward_direction_world"

    Hi, Kaichun,

    What is the difference between “gripper_direction_world” and "gripper_forward_direction_world" these two parameters？

    Best, Yuhan

    opened by HanHan55 1
  • How to install sapien 0.8 on MacOS

    How to install sapien 0.8 on MacOS

    Hi, Thank you for your work. I successfully run the code on Ubuntu 16.04. However, I can not install sapien v0.8 on MacOS. image Could you have some suggestions?

    opened by yimingli1998 1
  • offline data generation

    offline data generation

    Hi, thank you for your great work! You describe that it may take >=10,000 CPU hours to generate offline data. Could you please release the generated data for training? Thanks a lot.

    opened by yimingli1998 1
  • Number of samples for each primitive action

    Number of samples for each primitive action

    Hi Kaichun,

    Thanks for releasing the code for this interesting project. When generating the offline data, I guess you might like to change os.mkdir(out_dir) to os.makedirs(out_dir) [at here] to build the target dirs recursively - otherwise, the generation scripts may be interrupted without showing any error messages.

    I wonder whether you could also share the #samples-status for each primitive action when convenient (i.e., how many #samples or #subfolders would be generated inside each folder, like ./data/gt_data-train_10cats_train_data-pulling) for us to monitor the overall generation progress - if we follow your suggested #epoches? Thanks for your time!

    opened by chaoyivision 1
  • How to test through the interface

    How to test through the interface

    I successfully ran the code, but I don’t know how to control it through the interface. Is there documentation for this interface?Any help here is appreciated. image

    opened by liangxuejingjing 1
  • cannot install sapien 0.8. There is no whl package in sapien repo.

    cannot install sapien 0.8. There is no whl package in sapien repo.

    pip install http://download.cs.stanford.edu/orion/where2act/where2act_sapien_wheels/sapien-0.8.0.dev0-cp36-cp36m-manylinux2014_x86_64.whl command is not available.

    ERROR: sapien-0.8.0.dev0-cp36-cp36m-manylinux2014_x86_64.whl is not a supported wheel on this platform.

    There is no whl package in sapien repo right now. I install sapien 1.0.0rc0 but meet error:

    ImportError: cannot import name 'PxrMaterial' from 'sapien.core' (/opt/conda/lib/python3.8/site-packages/sapien/core/init.py)

    opened by akira-l 0
  • Gripper Collision

    Gripper Collision

    Hi, thanks for making your code open-source. We are trying to use your pulling model as our grasping module in our project that uses SAPIEN. However, we have found that the planned grasps are not usable in many cases (for example, the image below was classified as a success but clearly the meshes collided and the gripper is behind the handle). I wonder if its due to a wrong model, the parameters we are using are --exp_name finalexp-model_all_final-pulling-None-train_all_v1 --model_epoch 81 --model_version model_3d_legacy.

    Additionally, is there a transformation matrix between the pointclouds coordinates frame passed into pointnet and the final gripper pose outputted by the network (the pose saved in the plot function)? Please advise. Thanks.

    image

    opened by harryzhangOG 0
  • Training loss for critic not converge.

    Training loss for critic not converge.

    I follow the instrcution in the repo, collecting data and then training the critic at first. But I met problem at the first model training as critic. I found the loss is hard to converge as follow: image Above loss figure is in 34 epochs.

    Do I need to wait for converage ? I see the provided checkpoints are about 100 epochs. So could you pls provide a log for critic? I'd like to known what the usual condition of converage for this loss function. BTW, another solution is just wait for about 100 epochs to reach the similar training steps to your opened checkpoints. Is that the convergence not necessary in this case?

    opened by akira-l 0
  • How to make use of the provided pre-processed data?

    How to make use of the provided pre-processed data?

    Hello authors, It might be difficult for someone to generate offline data in scenario of less computing sources. Can you share how the provided pre-processed data can be used for training the models?

    opened by ankitatiisc 0
Owner
Kaichun Mo
Computer Science Ph.D. Student at Stanford University
Kaichun Mo
GitHub https://cs.stanford.edu/~kaichun/where2act/
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