inkyusa / raisimgymtutorial

Tutorial repository for raisimGym

Hi there, this is Inkyu 👋

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My interests are Field Robotics, Applied machine learning, Large-language models, and AI-generated content (AIGC e.g., stable-diffusion).

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My Kaggle profile

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Kaggle is one of my favourite places to learn and explore new machine learning (ML) technologies. I have found it to be a fun and entertaining playground where I can apply my skills and knowledge to real-world problems.

If you are also interested in ML or other state-of-the-art (SOTA) technologies, I highly recommend checking out Kaggle. There are a wide range of challenging problems that need to be solved, and Kaggle provides a great platform for learning and collaboration.

(124/199,921 as of 16/Feb/2024, Top 0.05%)

Here is my Kaggle profile page: My Kaggle profile

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raisimgymtutorial's Issues

Using Docker to run Tutorial - Configuration for Visualisation

Hi Inkyu and Jemin,
I tried to use Docker container based on the original docker image created for the ANYmal and Lakaigo setup for this tutorial and managed to make it compile as it can run RL episodes with the following output:

/usr/local/lib/python3.6/dist-packages/tensorflow/python/framework/dtypes.py:516: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_qint8 = np.dtype([("qint8", np.int8, 1)])
/usr/local/lib/python3.6/dist-packages/tensorflow/python/framework/dtypes.py:517: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_quint8 = np.dtype([("quint8", np.uint8, 1)])
/usr/local/lib/python3.6/dist-packages/tensorflow/python/framework/dtypes.py:518: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_qint16 = np.dtype([("qint16", np.int16, 1)])
/usr/local/lib/python3.6/dist-packages/tensorflow/python/framework/dtypes.py:519: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_quint16 = np.dtype([("quint16", np.uint16, 1)])
/usr/local/lib/python3.6/dist-packages/tensorflow/python/framework/dtypes.py:520: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_qint32 = np.dtype([("qint32", np.int32, 1)])
/usr/local/lib/python3.6/dist-packages/tensorflow/python/framework/dtypes.py:525: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
np_resource = np.dtype([("resource", np.ubyte, 1)])
/usr/local/lib/python3.6/dist-packages/tensorboard/compat/tensorflow_stub/dtypes.py:541: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_qint8 = np.dtype([("qint8", np.int8, 1)])
/usr/local/lib/python3.6/dist-packages/tensorboard/compat/tensorflow_stub/dtypes.py:542: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_quint8 = np.dtype([("quint8", np.uint8, 1)])
/usr/local/lib/python3.6/dist-packages/tensorboard/compat/tensorflow_stub/dtypes.py:543: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_qint16 = np.dtype([("qint16", np.int16, 1)])
/usr/local/lib/python3.6/dist-packages/tensorboard/compat/tensorflow_stub/dtypes.py:544: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_quint16 = np.dtype([("quint16", np.uint16, 1)])
/usr/local/lib/python3.6/dist-packages/tensorboard/compat/tensorflow_stub/dtypes.py:545: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
_np_qint32 = np.dtype([("qint32", np.int32, 1)])
/usr/local/lib/python3.6/dist-packages/tensorboard/compat/tensorflow_stub/dtypes.py:550: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
np_resource = np.dtype([("resource", np.ubyte, 1)])
/usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/env/env/cartpole/rsc
/usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/env/env/cartpole/rsc
/usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/env/env/cartpole/rsc
/usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/env/env/cartpole/rsc
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W0820 13:51:58.615869 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/stable_baselines-2.7.0-py3.6.egg/stable_baselines/common/tf_util.py:98: The name tf.ConfigProto is deprecated. Please use tf.compat.v1.ConfigProto instead.

W0820 13:51:58.616492 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/stable_baselines-2.7.0-py3.6.egg/stable_baselines/common/tf_util.py:107: The name tf.Session is deprecated. Please use tf.compat.v1.Session instead.

Running Firefox as root in a regular user's session is not supported. ($XAUTHORITY is /tmp/.docker.xauth which is owned by uid 1000.)
W0820 13:51:58.723061 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/archi/policies.py:112: The name tf.variable_scope is deprecated. Please use tf.compat.v1.variable_scope instead.

W0820 13:51:58.723516 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/stable_baselines-2.7.0-py3.6.egg/stable_baselines/common/input.py:25: The name tf.placeholder is deprecated. Please use tf.compat.v1.placeholder instead.

W0820 13:51:58.725111 140605381912384 deprecation.py:323] From /usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/archi/policies.py:436: flatten (from tensorflow.python.layers.core) is deprecated and will be removed in a future version.
Instructions for updating:
Use keras.layers.flatten instead.
[440:440:0820/135158.750565:ERROR:zygote_host_impl_linux.cc(89)] Running as root without --no-sandbox is not supported. See https://crbug.com/638180.
Running Firefox as root in a regular user's session is not supported. ($XAUTHORITY is /tmp/.docker.xauth which is owned by uid 1000.)
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: iceweasel: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: seamonkey: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: mozilla: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: epiphany: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: konqueror: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: chromium: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: chromium-browser: not found
[469:469:0820/135158.829528:ERROR:zygote_host_impl_linux.cc(89)] Running as root without --no-sandbox is not supported. See https://crbug.com/638180.
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: www-browser: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: links2: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: elinks: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: links: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: lynx: not found
/usr/bin/xdg-open: 851: /usr/bin/xdg-open: w3m: not found
xdg-open: no method available for opening 'http://1ba7b926c12a:6006/'
W0820 13:51:59.074641 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/stable_baselines-2.7.0-py3.6.egg/stable_baselines/a2c/utils.py:156: The name tf.get_variable is deprecated. Please use tf.compat.v1.get_variable instead.

W0820 13:51:59.295579 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/algo/ppo2/ppo2.py:161: The name tf.summary.scalar is deprecated. Please use tf.compat.v1.summary.scalar instead.

W0820 13:51:59.327766 140605381912384 deprecation.py:323] From /usr/local/lib/python3.6/dist-packages/tensorflow/python/ops/math_grad.py:1250: add_dispatch_support..wrapper (from tensorflow.python.ops.array_ops) is deprecated and will be removed in a future version.
Instructions for updating:
Use tf.where in 2.0, which has the same broadcast rule as np.where
W0820 13:51:59.677419 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/algo/ppo2/ppo2.py:177: The name tf.train.AdamOptimizer is deprecated. Please use tf.compat.v1.train.AdamOptimizer instead.

W0820 13:51:59.919301 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/algo/ppo2/ppo2.py:210: The name tf.summary.merge_all is deprecated. Please use tf.compat.v1.summary.merge_all instead.

W0820 13:51:59.921238 140605381912384 deprecation_wrapper.py:119] From /usr/local/lib/python3.6/dist-packages/stable_baselines-2.7.0-py3.6.egg/stable_baselines/common/base_class.py:880: The name tf.summary.FileWriter is deprecated. Please use tf.compat.v1.summary.FileWriter instead.

[RAISIM_GYM] Visualizing in RaiSimOgre
[2019:08:20:13:52:00 OgreVis.hpp:295] Loading RaisimOgre Resource from: /raisim_build/share/raisimOgre/cmake/../rsc
[2019:08:20:13:52:00 OgreVis.hpp:296] Loading Ogre Configuration from: /raisim_build/share/raisimOgre/cmake/../ogre/
Average rewards in this test episode 24.37104433774948

| approxkl | 0.011057173 |
| clipfrac | 0.13440748 |
| ep_len_mean | 16.3 |
| ep_reward_mean | 12 |
| explained_variance | -0.00288 |
| fps | 27596 |
| nupdates | 1 |
| policy_entropy | 1.3917731 |
| policy_loss | -0.014017224 |
| serial_timesteps | 400 |
| time_elapsed | 0.468 |
| total_timesteps | 40100 |
| value_loss | 23.976883 |

^CTraceback (most recent call last):
File "cartpole_tutorial.py", line 61, in
record_video=cfg['record_video']
File "/usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/algo/ppo2/ppo2.py", line 345, in learn
writer, self.num_timesteps)
File "/usr/local/lib/python3.6/dist-packages/stable_baselines-2.7.0-py3.6.egg/stable_baselines/a2c/utils.py", line 585, in total_episode_reward_logger
summary = tf.Summary(value=[tf.Summary.Value(tag="episode_reward", simple_value=rew_acc[env_idx])])
File "/usr/local/lib/python3.6/dist-packages/tensorflow/python/util/deprecation_wrapper.py", line 107, in getattr
if (self._dw_warning_count < _PER_MODULE_WARNING_LIMIT and
KeyboardInterrupt
By using the original docker file, I have to create new directory for the cartpole tutorial as well as moving the cartpole tutorial folder into the raisim_gym -> env -> env directories in order to make it compile.
I encountered two problems:

1. I was not able to visualise in Ogre as the raisimOgre window did not appear on the host computer.
2. The tensorboard also did not appear as there was no browser installed. So I installed firefox within the image. Initially it was able to trigger a firefox pop up in the host computer however it was not able to communicate and the webpage was broken. And now I am getting the error on cannot run firefox in root as a regular user problem.

Some guidance on this issue would be appreciated.

Problem in Visualization

Hello, after I cloned this repo and complied, no errors occurred. But after I run python ./cartpole_tutorial.py , no app-window appears on my screen. Except this, everything is perfect.
After the training, I type python ./cartpole_tutorial.py --mode test --weight ./weights/cartpole_tutorial/cartpole.pkl , still no app-window showed on my screen. The command line window shows like this:

wzc@amax:~/raisim_workspace/raisimGym/raisim_gym/env/env/cartpole$ python ./cartpole_tutorial.py --mode test --weight ./weights/cartpole_tutorial/cartpole.pkl
/usr/local/lib/python3.5/dist-packages/h5py/__init__.py:36: FutureWarning: Conversion of the second argument of issubdtype from `float` to `np.floating` is deprecated. In future, it will be treated as `np.float64 == np.dtype(float).type`.
  from ._conv import register_converters as _register_converters
/usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/raisim_gym/env/env/cartpole/rsc
Loaded weight from ./weights/cartpole_tutorial/cartpole.pkl

Loading a model without an environment, this model cannot be trained until it has a valid environment.
WARNING: Logging before flag parsing goes to stderr.
W1126 22:09:01.151570 140490057393920 deprecation_wrapper.py:119] From /usr/local/lib/python3.5/dist-packages/stable_baselines-2.8.0-py3.5.egg/stable_baselines/common/tf_util.py:57: The name tf.ConfigProto is deprecated. Please use tf.compat.v1.ConfigProto instead.

W1126 22:09:01.152139 140490057393920 deprecation_wrapper.py:119] From /usr/local/lib/python3.5/dist-packages/stable_baselines-2.8.0-py3.5.egg/stable_baselines/common/tf_util.py:66: The name tf.Session is deprecated. Please use tf.compat.v1.Session instead.

W1126 22:09:01.174411 140490057393920 deprecation_wrapper.py:119] From /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/raisim_gym/archi/policies.py:114: The name tf.variable_scope is deprecated. Please use tf.compat.v1.variable_scope instead.

W1126 22:09:01.175273 140490057393920 deprecation_wrapper.py:119] From /usr/local/lib/python3.5/dist-packages/stable_baselines-2.8.0-py3.5.egg/stable_baselines/common/input.py:25: The name tf.placeholder is deprecated. Please use tf.compat.v1.placeholder instead.

W1126 22:09:01.177521 140490057393920 deprecation.py:323] From /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/raisim_gym/archi/policies.py:438: flatten (from tensorflow.python.layers.core) is deprecated and will be removed in a future version.
Instructions for updating:
Use keras.layers.flatten instead.
W1126 22:09:01.486537 140490057393920 deprecation_wrapper.py:119] From /usr/local/lib/python3.5/dist-packages/stable_baselines-2.8.0-py3.5.egg/stable_baselines/a2c/utils.py:156: The name tf.get_variable is deprecated. Please use tf.compat.v1.get_variable instead.

W1126 22:09:01.766843 140490057393920 deprecation_wrapper.py:119] From /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/raisim_gym/algo/ppo2/ppo2.py:161: The name tf.summary.scalar is deprecated. Please use tf.compat.v1.summary.scalar instead.

W1126 22:09:01.801794 140490057393920 deprecation.py:323] From /usr/local/lib/python3.5/dist-packages/tensorflow/python/ops/math_grad.py:1250: add_dispatch_support.<locals>.wrapper (from tensorflow.python.ops.array_ops) is deprecated and will be removed in a future version.
Instructions for updating:
Use tf.where in 2.0, which has the same broadcast rule as np.where
W1126 22:09:02.059547 140490057393920 deprecation_wrapper.py:119] From /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/raisim_gym/algo/ppo2/ppo2.py:177: The name tf.train.AdamOptimizer is deprecated. Please use tf.compat.v1.train.AdamOptimizer instead.

W1126 22:09:02.269401 140490057393920 deprecation_wrapper.py:119] From /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/raisim_gym/algo/ppo2/ppo2.py:210: The name tf.summary.merge_all is deprecated. Please use tf.compat.v1.summary.merge_all instead.

When I run the example provided in the raisimGym, I can see the window of Raisim.app.
Is there anything wrong with the process of visualization? How can I fix it?

How to suspend the moving of the Cartpole?

Hello. After I check 'simulation' --> 'manual stepping' in the menu in test mode. The cartpole does not stop moving. Is there anything I can do to suspend it?