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inkyusa floodsung wwxfromtju allensmile machinelearning-ai zhaomingxie knorth55 mayankm96 tacohsien haloted bestever-choi singleye junja94 echosdu ra3vld watsonzhouanda woodenjin mktk1117 deepdynamicslab tomato1107 kbunal nikitardn fanshi14 zeta1999 mark-zu xdanvidia aakriti05 zqx323 lyltc1 benrow4 arghyachatterjee mitchell-lee-93 feracero vinaykamidi simrepodev asimov-robust zazgf ydeh22 mcx vortexmath xcloudplatformraisimgym's Issues
Firefox installed in docker cannot be run as sudo based on UID problem
It is probably an old issue but firefox when initially installed using the dockerfile provided runs okay. Sometimes I still get the error that I cannot run firefox due to the wrong UID error as shown below, as this also affects the tensorboard operation:
root@d22c0ccad313:/raisim_workspace/raisimGym# firefox
Running Firefox as root in a regular user's session is not supported. ($XAUTHORITY is /tmp/.docker.xauth which is owned by uid 1000.)
A solution to this would be greatly appreciated.
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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 /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 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:
- I was not able to visualise in Ogre as the raisimOgre window did not appear on the host computer.
- 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.
Struggling with LICENSE
[2020:09:05:20:11:50 license.hpp:15] THIS LICENSE IS EXPIRED. PLEASE GET A NEW LICENSE
How to solve this LICENSE Problem. Does Its Free?
license is expired
what i input :
python3 scripts/anymal_blind_locomotion.py
what i get some future warning and :
[2020:09:02:11:52:14 license.hpp:15] THIS LICENSE IS EXPIRED. PLEASE GET A NEW LICENSE
it is everything ok two weeks ago,
what should i do to solve this problem?
Trying to Build Environment Error
Hi Jemin,
Out of the blue this error occurred when I try to rebuild environment using the code:
python3 setup.py install --CMAKE_PREFIX_PATH $LOCAL_BUILD --env ANYmal or
python3 setup.py install --CMAKE_PREFIX_PATH $LOCAL_BUILD --env cartpole
Here is the output:
> `running install
> running bdist_egg
> running egg_info
> writing raisim_gym.egg-info/PKG-INFO
> writing dependency_links to raisim_gym.egg-info/dependency_links.txt
> writing requirements to raisim_gym.egg-info/requires.txt
> writing top-level names to raisim_gym.egg-info/top_level.txt
> reading manifest file 'raisim_gym.egg-info/SOURCES.txt'
> reading manifest template 'MANIFEST.in'
> writing manifest file 'raisim_gym.egg-info/SOURCES.txt'
> installing library code to build/bdist.linux-x86_64/egg
> running install_lib
> running build_py
> running build_ext
> CMake Error at CMakeLists.txt:7 (find_package):
> Could not find a configuration file for package "raisimOgre" that is
> compatible with requested version "0.4.0".
>
> The following configuration files were considered but not accepted:
>
> /raisim_build/share/raisimOgre/cmake/raisimOgreConfig.cmake, version: 0.3.0
>
>
>
> -- Configuring incomplete, errors occurred!
> See also "/raisim_workspace/raisimGym/build/temp.linux-x86_64-3.6/CMakeFiles/CMakeOutput.log".
> Traceback (most recent call last):
> File "setup.py", line 104, in <module>
> zip_safe=False,
> File "/usr/lib/python3.6/distutils/core.py", line 148, in setup
> dist.run_commands()
> File "/usr/lib/python3.6/distutils/dist.py", line 955, in run_commands
> self.run_command(cmd)
> File "/usr/lib/python3.6/distutils/dist.py", line 974, in run_command
> cmd_obj.run()
> File "/usr/lib/python3/dist-packages/setuptools/command/install.py", line 67, in run
> self.do_egg_install()
> File "/usr/lib/python3/dist-packages/setuptools/command/install.py", line 109, in do_egg_install
> self.run_command('bdist_egg')
> File "/usr/lib/python3.6/distutils/cmd.py", line 313, in run_command
> self.distribution.run_command(command)
> File "/usr/lib/python3.6/distutils/dist.py", line 974, in run_command
> cmd_obj.run()
> File "/usr/lib/python3/dist-packages/setuptools/command/bdist_egg.py", line 172, in run
> cmd = self.call_command('install_lib', warn_dir=0)
> File "/usr/lib/python3/dist-packages/setuptools/command/bdist_egg.py", line 158, in call_command
> self.run_command(cmdname)
> File "/usr/lib/python3.6/distutils/cmd.py", line 313, in run_command
> self.distribution.run_command(command)
> File "/usr/lib/python3.6/distutils/dist.py", line 974, in run_command
> cmd_obj.run()
> File "/usr/lib/python3/dist-packages/setuptools/command/install_lib.py", line 24, in run
> self.build()
> File "/usr/lib/python3.6/distutils/command/install_lib.py", line 109, in build
> self.run_command('build_ext')
> File "/usr/lib/python3.6/distutils/cmd.py", line 313, in run_command
> self.distribution.run_command(command)
> File "/usr/lib/python3.6/distutils/dist.py", line 974, in run_command
> cmd_obj.run()
> File "setup.py", line 60, in run
> self.build_extension(ext)
> File "setup.py", line 88, in build_extension
> subprocess.check_call(['cmake', ext.sourcedir] + cmake_args, cwd=self.build_temp, env=env)
> File "/usr/lib/python3.6/subprocess.py", line 311, in check_call
> raise CalledProcessError(retcode, cmd)
> subprocess.CalledProcessError: Command '['cmake', '/raisim_workspace/raisimGym', '-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=/raisim_workspace/raisimGym/build/lib.linux-x86_64-3.6', '-DPYTHON_EXECUTABLE=/usr/bin/python3', '-DCMAKE_PREFIX_PATH=/raisim_build', '-DRSG_ENVIRONMENT_INCLUDE_PATH=ANYmal', '-DCMAKE_BUILD_TYPE=Release']' returned non-zero exit status 1.
> `
Please help.
Can't instantiate with an abstract method
Traceback (most recent call last):
File "scripts/laikago_blind_locomotion.py", line 52, in
model.learn(total_timesteps=400000000, eval_every_n=50, log_dir=saver.data_dir, record_video=cfg['record_video'])
File "/usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/raisim_gym/algo/ppo2/ppo2.py", line 284, in learn
runner = Runner(env=self.env, model=self, n_steps=self.n_steps, gamma=self.gamma, lam=self.lam)
TypeError: Can't instantiate abstract class Runner with abstract methods _run
Possible error in step() function in Environment file for Quadrotor
The step() function in Environment.hpp file of the quadrotor environment returns the summation of positionReward_ , thrustReward_ and orientationReward_. The coefficient of thrustReward_ is 0, so its value will be 0, and angVelReward_ in not included even though it has been calculated.
So, is angVelReward_ intentionally not included in the summation or is it just a small error?
turn off the visualization
Hello,
Thanks for your Repos. I have a question, I want to run raisimGym in a remote machine, so I can not visualize it in remote machine. Errors is as follows:
[2020:06:08:12:50:32 OgreVis.hpp:342] Loading RaisimOgre Resources from:
[2020:06:08:12:50:32 OgreVis.hpp:343] Loading OGRE Configurations from: /root/raisim_build/share/raisimOgre/cmake/../ogre/
Segmentation fault (core dumped)
Where can I find the config file to turn raisimOgre off such that there is no error?
Relationship to ANYmal science paper
Hi,
Thanks for the effort building and releasing raisimGym! I am wondering how much does the ANYmal environment in raisimGym resemble the one used for ANYmal science paper? It seems that the cost function in raisimGym is a simplified version with 2 terms. Are the policies trained from raisim gym still deployable on the physical ANYmal robot?
Thanks!
Environment.hpp env.reset() Initialisation Question
I am a bit confused as to the way the quarotor is initialised for training.
Inside the reset() function:
float dummy;
do{
position_[0] = 1.0 * normDist_(gen_);
position_[1] = 1.0 * normDist_(gen_);
position_[2] = 1.0 * normDist_(gen_);
linVel_W_[0] = 2.0 * normDist_(gen_);
linVel_W_[1] = 2.0 * normDist_(gen_);
linVel_W_[2] = 2.0 * normDist_(gen_);
angVel_W_[0] = 5.0 * normDist_(gen_);
angVel_W_[1] = 5.0 * normDist_(gen_);
angVel_W_[2] = 5.0 * normDist_(gen_);
} while( isTerminalState(dummy) );
// sampling random orientation
quaternion_[0] = normDist_(gen_);
quaternion_[1] = normDist_(gen_);
quaternion_[2] = normDist_(gen_);
quaternion_[3] = normDist_(gen_);
quaternion_ /= quaternion_.norm();
Why is the normDist_() only between 0 and 1 and not -1 and 1. It seems, only one direction of angular velocity and linear velocity is accounted for and not its negative counterpart?
Question about the observation in Environment and Model
Hi,
I encountered a problem that the value of "obDouble_"(ground truth) in Environment.hpp does not match the value of "self.obs" in ppo2.py. The dimension of both is the same while the value is not.
For example, when I visualize the positions of the robot using the RewardLogger, the dynamic change of the value is ground truth (considering the robot shape and size). But when I try to print these positions using "print(self.obs)" in ppo2.py, the output does not match the ground truth.
So what the self.obs represents? Why not equal to "obDouble_"(ground truth)? @jhwangbo
Thanks!
'Segmentation fault' when run example script in docker
Thanks for the work.
I'd try the raisim engine for rl usage, environment is built exactly follow the given dockerfile, and to run we connect to the docker container through ssh with x-forwarding enabled. When run any example script, trigger a 'segmentation fault' error.
After search and check, it seems to be a ogre issue, 'gl' related render plugin is not able to be loaded, run the built Orge example 'SampleBrowser' show the same error, I am not familiar with Ogre and found few related issues on orge repository but not a suitable way to solve this problem, seems x forwarding not use the right gl. Is there any way to run raisim gui through x forwarding on docker ?
the container follow the dockerfile, and runtime config :
OS: ubuntu 18.04
GPU: GTX 1080, driver 418.56, cuda 10.1
run 'python3 scripts/laikago_blind_locomation.py', output:
[2019:08:19:02:56:24 OgreVis.hpp:295] Loading RaisimOgre Resource from: /opt/raisim_build/share/raisimOgre/cmake/../rsc
[2019:08:19:02:56:24 OgreVis.hpp:296] Loading Ogre Configuration from: /opt/raisim_build/share/raisimOgre/cmake/../ogre/
[task16227-q7qdf:09966] *** Process received signal ***
[task16227-q7qdf:09966] Signal: Segmentation fault (11)
[task16227-q7qdf:09966] Signal code: Address not mapped (1)
[task16227-q7qdf:09966] Failing at address: 0x8
[task16227-q7qdf:09966] [ 0] /lib/x86_64-linux-gnu/libc.so.6(+0x3ef20)[0x7f5c89d09f20]
[task16227-q7qdf:09966] [ 1] /usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE9_M_assignERKS4_+0x28)[0x7f5c87217058]
[task16227-q7qdf:09966] [ 2] /opt/raisim_build/lib/OGRE/RenderSystem_GL.so.1.12.1(+0xf7dec)[0x7f5b9521fdec]
[task16227-q7qdf:09966] [ 3] /opt/raisim_build/lib/OGRE/RenderSystem_GL.so.1.12.1(_ZN4Ogre14GLRenderSystemC2Ev+0x2a7)[0x7f5b951e0767]
[task16227-q7qdf:09966] [ 4] /opt/raisim_build/lib/OGRE/RenderSystem_GL.so.1.12.1(+0xaea6e)[0x7f5b951d6a6e]
[task16227-q7qdf:09966] [ 5] /opt/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root13installPluginEPNS_6PluginE+0xfb)[0x7f5c877d09db]
[task16227-q7qdf:09966] [ 6] /opt/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root10loadPluginERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE+0x17a)[0x7f5c877d0c6a]
[task16227-q7qdf:09966] [ 7] /opt/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root11loadPluginsERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE+0x545)[0x7f5c877d12d5]
[task16227-q7qdf:09966] [ 8] /opt/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4RootC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES8_S8_+0x135d)[0x7f5c877d33dd]
[task16227-q7qdf:09966] [ 9] /opt/raisim_build/lib/libOgreBites.so.1.12.1(_ZN9OgreBites22ApplicationContextBase10createRootEv+0x39d)[0x7f5c87bae89d]
[task16227-q7qdf:09966] [10] /opt/raisim_build/lib/libOgreBites.so.1.12.1(_ZN9OgreBites22ApplicationContextBase7initAppEv+0xf)[0x7f5c87badaef]
[task16227-q7qdf:09966] [11] /usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/_raisim_gym.cpython-36m-x86_64-linux-gnu.so(+0x1dcd2)[0x7f5c88654cd2]
[task16227-q7qdf:09966] [12] /usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/_raisim_gym.cpython-36m-x86_64-linux-gnu.so(+0x11157)[0x7f5c88648157]
[task16227-q7qdf:09966] [13] /usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/_raisim_gym.cpython-36m-x86_64-linux-gnu.so(+0x256be)[0x7f5c8865c6be]
[task16227-q7qdf:09966] [14] python(_PyCFunction_FastCallDict+0x35c)[0x56204c]
[task16227-q7qdf:09966] [15] python[0x4f88ba]
[task16227-q7qdf:09966] [16] python(_PyEval_EvalFrameDefault+0x467)[0x4f98c7]
[task16227-q7qdf:09966] [17] python(_PyFunction_FastCallDict+0xf5)[0x4f4065]
[task16227-q7qdf:09966] [18] python[0x5a1481]
[task16227-q7qdf:09966] [19] python[0x512a60]
[task16227-q7qdf:09966] [20] python[0x53ee21]
[task16227-q7qdf:09966] [21] python(_PyObject_FastCallKeywords+0x19c)[0x57ec0c]
[task16227-q7qdf:09966] [22] python[0x4f88ba]
[task16227-q7qdf:09966] [23] python(_PyEval_EvalFrameDefault+0x467)[0x4f98c7]
[task16227-q7qdf:09966] [24] python[0x4f6128]
[task16227-q7qdf:09966] [25] python(PyEval_EvalCode+0x23)[0x4f9023]
[task16227-q7qdf:09966] [26] python[0x6415b2]
[task16227-q7qdf:09966] [27] python(PyRun_FileExFlags+0x9a)[0x64166a]
[task16227-q7qdf:09966] [28] python(PyRun_SimpleFileExFlags+0x190)[0x643730]
[task16227-q7qdf:09966] [29] python(Py_Main+0x59e)[0x62b26e]
[task16227-q7qdf:09966] *** End of error message ***
[1] 9966 segmentation fault (core dumped) python scripts/laikago_blind_locomotion.pyrun "glxinfo | grep 'OpenGL render', output:
OpenGL renderer string: llvmpipe (LLVM 7.0, 256 bits)The normal docker error Segmentation fault (core dumped)
I tried yesterday.but still error Segmentation fault (core dumped).
I used the normal docker because I have no GPU. but I tried all examples , it error Segmentation fault (core dumped) and I can not found what's wrong . it occur when I load the raisimOgre
Error when use step function in class RaisimGymVecEnv
Hi,
Thanks for sharing this. I want to add td3 from stable-baselines in the algo. When the program execute self.env.step, it cause follow error, I think the input of the function is correct. So it's very confusing. Thanks in advance.
Traceback (most recent call last):
File "scripts/anymal_blind_locomotion_td3.py", line 46, in <module>
model.learn(total_timesteps=50000, log_interval=10)
File "/home/zqx/anaconda3/envs/anymal/lib/python3.6/site-packages/raisim_gym-0.5.0-py3.6-linux-x86_64.egg/raisim_gym/algo/td3/td3.py", line 331, in learn
new_obs, reward, done, info = self.env.step(rescaled_action, visualize=True)
File "/home/zqx/anaconda3/envs/anymal/lib/python3.6/site-packages/raisim_gym-0.5.0-py3.6-linux-x86_64.egg/raisim_gym/env/RaisimGymVecEnv.py", line 30, in step
self.wrapper.testStep(action, self._observation, self._reward, self._done, self._extraInfo)
TypeError: testStep(): incompatible function arguments. The following argument types are supported:
1. (self: _raisim_gym.RaisimGymEnv, arg0: numpy.ndarray[float32[m, n], flags.writeable, flags.c_contiguous], arg1: numpy.ndarray[float32[m, n], flags.writeable, flags.c_contiguous], arg2: numpy.ndarray[float32[m, 1], flags.writeable], arg3: numpy.ndarray[bool[m, 1], flags.writeable], arg4: numpy.ndarray[float32[m, n], flags.writeable, flags.c_contiguous]) -> None
Invoked with: <_raisim_gym.RaisimGymEnv object at 0x7f85b3062848>, array([[ 0.08874022, 0.11524627, 0.08672155, -0.1041653 , 0.08133964,
-0.54812552, 0.44476833, 0.3027389 , -0.27096661, 0.6745773 ,
-0.34092081, 0.11477388]]), array([[ 0.02584356, 0.04644538, 0.5113571 , -0.0745747 , -0.07252908,
1.4247787 , 0.04175732, -0.04320183, -0.00686281, -0.10704116,
-0.38630995, 0.60385 , 0.00182454, 0.44784692, -0.6802453 ,
0.05022758, 0.47194725, -0.6429743 , 0.00186013, 0.03102602,
0.03337318, 0.0835087 , -0.05459327, -0.08109044, 0.45095894,
0.3529083 , 0.0037378 , 0.529099 , -0.2433785 , -0.02164587,
-0.53081214, 0.21880619, -0.01959409, -0.49592617, -0.27816093,
0.01029105, 0.71 , 0.26 , -0.04309561, 0.46035215,
-0.26055574, -0.04309561, -0.46035215, 0.26055574, -0.04309561,
-0.46035215, -0.26055574, -0.04309561, 0. , 1. ,
1. , 1. , 1. , 1. , 0.71 ,
0.26 , -0.04309561, 0.02132099, 0.02662646, 0.11978799,
-0.01284828, -0.06666117, 0.12672742, -0.07316593, 0.03450989,
0.0056312 , -0.07493337, -0.00926625, 0.0332063 ]],
dtype=float32), array([-0.34402055], dtype=float32), array([False]), array([[0.5113571, 0. ]], dtype=float32)
Question on .pkl file saved after the training.
Hi,
I have a question on the content of .pkl file saved after the training of anymal_blind_locomotion.py. I used the parameter
policy_kwargs=dict(net_arch=[dict(pi=[120, 160], vf=[130, 140])]), in PPO2.load(). And when I look into the weights saved in .pkl. I found the shape of the weights are as follows,
(a): 34x120
(b): 120
(c): 34*130
(d): 130
(e): 120x160
(f): 160
(g): 130x140
(h): 140
(i): 140x1
(j): 1
(k): 160x12
(l): 12
(m): 1x12
(n): 140x12
(o): 12
After I read the code, I learned that (a)(b)(e)(f)(k)(l) are weights of the policy network and (c)(d)(g)(h)(i)(j) are weights of the value function network. But I still confused about the function of (m)(n)(o). According to the dimensions of these arrays, (n) and (o)
seems to be the weights and bias connected to the last hidden layer of the value function network, and (m) seems to be connected to the output layer of the vf network. All the weights are extracted by "self.sess.all_trainable_variables()". However. I have no idea what these weights are used for. I wonder if you know the meaning of these weights.
Thanks.
The environment is getting slower as training goes
Hi,
First, it is an amazing project! the simulation is very fast.
But the speed(fps) is getting slower and slower as the training goes. If I restart the environment, the speed back to very fast again.
Is this a universal problem? Do you have an idea about the cause of it?
thanks
Shupeng
use example in docker it error Segmentation fault (core dumped)
my computer is i7 -8650U , have no gpu. I have tried using docker .but when I run python3 scripts/anymal_blind_locomotion.py. it said Segmentation fault (core dumped). what i can do ?
Cartpole Tutorial Testing Mode
Also tried to run the last line of the cartpole tutorial after its training and found it was not able to load the environment for visualisation. The output of the error is provided as follows:
root@4462e3857ee9:/raisim_workspace/raisimGym# python3 ./cartpole_tutorial.py --mode test --weight ./weights/cartpole_tutorial/cartpole.pkl
python3: can't open file './cartpole_tutorial.py': [Errno 2] No such file or directory
root@4462e3857ee9:/raisim_workspace/raisimGym# cd raisim_gym/env/env/cartpole/
root@4462e3857ee9:/raisim_workspace/raisimGym/raisim_gym/env/env/cartpole# python3 ./cartpole_tutorial.py --mode test --weight ./weights/cartpole_tutorial/cartpole.pkl
/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
[2019:08:21:08:35:15 OgreVis.hpp:295] Loading RaisimOgre Resource from: /raisim_build/share/raisimOgre/cmake/../rsc
[2019:08:21:08:35:15 OgreVis.hpp:296] Loading Ogre Configuration from: /raisim_build/share/raisimOgre/cmake/../ogre/
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.
W0821 08:35:16.083068 140351034369856 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.
W0821 08:35:16.083539 140351034369856 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.
W0821 08:35:16.189958 140351034369856 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.
W0821 08:35:16.190448 140351034369856 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.
W0821 08:35:16.191884 140351034369856 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.
W0821 08:35:16.454259 140351034369856 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.
W0821 08:35:16.666865 140351034369856 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.
W0821 08:35:16.693435 140351034369856 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
W0821 08:35:16.920613 140351034369856 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.
W0821 08:35:17.114641 140351034369856 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.
^CTraceback (most recent call last):
File "./cartpole_tutorial.py", line 79, in
obs, reward, done, infos = env.step(action, visualize=True)
File "/usr/local/lib/python3.6/dist-packages/raisim_gym-0.3.0-py3.6-linux-x86_64.egg/raisim_gym/env/RaisimGymVecEnv.py", line 30, in step
self.wrapper.testStep(action, self._observation, self._reward, self._done, self._extraInfo)
KeyboardInterrupt
The error is as it shows cannot load a valid environment and so the RaisimOgre window only popped open briefly. Please also look into this issue as well. Cheers.
segfault on using mesh as collision bodies
Thank you for providing this impressive work.
I face a segmentation fault after a few iterations of training if I use mesh collision bodies instead of geometry primitives.
The error persists even if meshes are downsampled to have only a few faces and vertices.
To reproduce:
I use the provided ANYmal example for reproducing the error. Replace the collision tag of feet of the ANYmal example with the provided mesh. And run the anymal_blind_locomotion.py script.
That is, for all 4 feet replace this:
<!-- Foot link -->
<link name="LF_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.035"/>
</geometry>
</collision>
</link>
with this
<!-- Foot link -->
<link name="LF_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<mesh filename="../meshes/lfoot.obj"/>
</geometry>
</collision>
</link>
Downsampled meshes for left and right feet, and URDF are provided here.
Possible error in the structure of the info variable
In this part of the code:
are you sure you didn't meant this:
if len(self._extraInfoNames) is not 0:
info = [{'extra_info': {
self._extraInfoNames[j]: self._extraInfo[i, j] for j in range(0, len(self._extraInfoNames))
}} for i in range(self.num_envs)]instead of:
if len(self._extraInfoNames) is not 0:
info = [{'extra_info': {
self._extraInfoNames[j]: self._extraInfo[i, j],
}} for j in range(0, len(self._extraInfoNames)) for i in range(self.num_envs)]Why does the simulation screen go black after a number of updates?
Not sure why but the screen goes pitch black after some time of training. What could cause this?
obMean and obStd in examples
Can I ask the question about values of obMean_ and obStd_ in examples? How are the values for these variables selected in the examples?
Quadcoptor not reaching the red dot after training.
As you can see the image above, after training using the code - quadrotor_position_tracking.py, the model tends to bring the quadcoptor to a particular location just below the red dot. I have trained the model till 9000 iteration and starting from 1000, it brings to that specific location which is just below the red dot. Can anyone tell me why it is not reaching the red dot exactly and why to a certain location below the red dot?
NaN values in returned reward from the Environment
I am getting NaN values from the environment of the quadcopter. Can you tell me scenarios in which this can happen (Eg: Quadcopter is going out of bounds, quadcopter is rotating too fast etc.)?
TIA
Attempting to fetch value instead of handling error Internal: no supported devices found for platform CUDA Aborted (core dumped)
Thanks for your repo, I face the following problem, a black page opens and after a few second closes.
This is the output of install:
~/raisimGym$ sudo python3.6 setup.py install --CMAKE_PREFIX_PATH $LOCAL_BUILD --env anymal
running install
running bdist_egg
running egg_info
writing raisim_gym.egg-info/PKG-INFO
writing dependency_links to raisim_gym.egg-info/dependency_links.txt
writing requirements to raisim_gym.egg-info/requires.txt
writing top-level names to raisim_gym.egg-info/top_level.txt
reading manifest file 'raisim_gym.egg-info/SOURCES.txt'
reading manifest template 'MANIFEST.in'
writing manifest file 'raisim_gym.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
running install_lib
running build_py
running build_ext
-- raisim:
-- Version: 0.7.0
-- Includes: /home/caias18/raisimLib/raisim_build/include
-- Libraries: raisim::png;raisim::raisimODE;raisim::raisim
-- Found OGRE
-- static : OFF
-- components : Bites;HLMS;MeshLodGenerator;Overlay;Paging;Property;RTShaderSystem;Terrain;Volume
-- plugins : Plugin_BSPSceneManager;Plugin_OctreeSceneManager;Plugin_PCZSceneManager;Plugin_ParticleFX;RenderSystem_GL;RenderSystem_GL3Plus;Codec_STBI;Codec_FreeImage;Codec_EXR
-- media : /home/caias18/raisimLib/raisim_build/share/OGRE/Media
-- raisimOgre:
-- Version: 0.7.0
-- Includes: /home/caias18/raisimLib/raisim_build/include
-- Libraries: OgreMain;OgreBites;OgreRTShaderSystem;OgreMeshLodGenerator;raisim::assimp;raisim::raisim;pthread;zzip;SDL2
[RAISIM_GYM] including directory /home/caias18/raisimGym/raisim_gym/env/env/ANYmal
-- Configuring done
-- Generating done
-- Build files have been written to: /home/caias18/raisimGym/build/temp.linux-x86_64-3.6
Scanning dependencies of target _raisim_gym
[ 50%] Building CXX object CMakeFiles/_raisim_gym.dir/raisim_gym/env/raisim_gym.cpp.o
[100%] Linking CXX shared module ../lib.linux-x86_64-3.6/_raisim_gym.cpython-36m-x86_64-linux-gnu.so
[100%] Built target _raisim_gym
creating build/bdist.linux-x86_64/egg
creating build/bdist.linux-x86_64/egg/raisim_gym
creating build/bdist.linux-x86_64/egg/raisim_gym/algo
creating build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo3
copying build/lib.linux-x86_64-3.6/raisim_gym/algo/ppo3/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo3
copying build/lib.linux-x86_64-3.6/raisim_gym/algo/ppo3/ppo3.py -> build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo3
copying build/lib.linux-x86_64-3.6/raisim_gym/algo/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/algo
creating build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo2
copying build/lib.linux-x86_64-3.6/raisim_gym/algo/ppo2/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo2
copying build/lib.linux-x86_64-3.6/raisim_gym/algo/ppo2/ppo2.py -> build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo2
creating build/bdist.linux-x86_64/egg/raisim_gym/algo/common
copying build/lib.linux-x86_64-3.6/raisim_gym/algo/common/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/algo/common
copying build/lib.linux-x86_64-3.6/raisim_gym/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym
creating build/bdist.linux-x86_64/egg/raisim_gym/helper
copying build/lib.linux-x86_64-3.6/raisim_gym/helper/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/helper
copying build/lib.linux-x86_64-3.6/raisim_gym/helper/raisim_gym_helper.py -> build/bdist.linux-x86_64/egg/raisim_gym/helper
creating build/bdist.linux-x86_64/egg/raisim_gym/env
copying build/lib.linux-x86_64-3.6/raisim_gym/env/raisim_gym.cpp -> build/bdist.linux-x86_64/egg/raisim_gym/env
copying build/lib.linux-x86_64-3.6/raisim_gym/env/RewardLogger.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env
copying build/lib.linux-x86_64-3.6/raisim_gym/env/RaisimGymVecEnv.py -> build/bdist.linux-x86_64/egg/raisim_gym/env
copying build/lib.linux-x86_64-3.6/raisim_gym/env/RaisimGymEnv.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env
copying build/lib.linux-x86_64-3.6/raisim_gym/env/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/env
creating build/bdist.linux-x86_64/egg/raisim_gym/env/__pycache__
copying build/lib.linux-x86_64-3.6/raisim_gym/env/__pycache__/__init__.cpython-36.pyc -> build/bdist.linux-x86_64/egg/raisim_gym/env/__pycache__
copying build/lib.linux-x86_64-3.6/raisim_gym/env/__pycache__/RaisimGymVecEnv.cpython-36.pyc -> build/bdist.linux-x86_64/egg/raisim_gym/env/__pycache__
copying build/lib.linux-x86_64-3.6/raisim_gym/env/VectorizedEnvironment.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env
copying build/lib.linux-x86_64-3.6/raisim_gym/env/debug_app.cpp -> build/bdist.linux-x86_64/egg/raisim_gym/env
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird/hummingbird
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/hummingbird/hummingbird/mesh.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird/hummingbird
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/hummingbird/hummingbird/default_cfg.yaml -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird/hummingbird
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/hummingbird/Environment.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/hummingbird/visSetupCallback.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/hummingbird/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/hummingbird/README -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/Environment.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/laikago/thigh_mirror.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/laikago/thigh.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/laikago/calf.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/laikago/laikago.urdf -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/laikago/default_cfg.yaml -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/laikago/trunk.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/laikago/LICENSE -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/laikago/hip.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/visSetupCallback.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/laikago/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/env/env
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/__pycache__
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/__pycache__/__init__.cpython-36.pyc -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/__pycache__
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/Environment.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/visSetupCallback.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/__pycache__
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/__pycache__/__init__.cpython-36.pyc -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/__pycache__
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/anymal_foot.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/anymal_hip_l.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/base_uv_texture.jpg -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/anymal_shank_r.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/anymal_shank_l.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/carbon_uv_texture.jpg -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/anymal_thigh_r.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/anymal_base.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/anymal_thigh_l.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes/anymal_hip_r.dae -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/meshes
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/default_cfg.yaml -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/LICENSE -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2
creating build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/urdf
copying build/lib.linux-x86_64-3.6/raisim_gym/env/env/ANYmal/ANYmal_bear2/urdf/anymal.urdf -> build/bdist.linux-x86_64/egg/raisim_gym/env/env/ANYmal/ANYmal_bear2/urdf
creating build/bdist.linux-x86_64/egg/raisim_gym/env/visualizer
copying build/lib.linux-x86_64-3.6/raisim_gym/env/visualizer/raisimBasicImguiPanel.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/visualizer
copying build/lib.linux-x86_64-3.6/raisim_gym/env/visualizer/helper.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/visualizer
copying build/lib.linux-x86_64-3.6/raisim_gym/env/visualizer/guiState.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/visualizer
copying build/lib.linux-x86_64-3.6/raisim_gym/env/visualizer/deserializer.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/visualizer
copying build/lib.linux-x86_64-3.6/raisim_gym/env/visualizer/raisimKeyboardCallback.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env/visualizer
copying build/lib.linux-x86_64-3.6/raisim_gym/env/RaisimServer.hpp -> build/bdist.linux-x86_64/egg/raisim_gym/env
creating build/bdist.linux-x86_64/egg/raisim_gym/archi
copying build/lib.linux-x86_64-3.6/raisim_gym/archi/policies.py -> build/bdist.linux-x86_64/egg/raisim_gym/archi
copying build/lib.linux-x86_64-3.6/raisim_gym/archi/__init__.py -> build/bdist.linux-x86_64/egg/raisim_gym/archi
copying build/lib.linux-x86_64-3.6/_raisim_gym.cpython-36m-x86_64-linux-gnu.so -> build/bdist.linux-x86_64/egg
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo3/__init__.py to __init__.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo3/ppo3.py to ppo3.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/algo/__init__.py to __init__.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo2/__init__.py to __init__.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/algo/ppo2/ppo2.py to ppo2.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/algo/common/__init__.py to __init__.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/__init__.py to __init__.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/helper/__init__.py to __init__.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/helper/raisim_gym_helper.py to raisim_gym_helper.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/env/env/hummingbird/__init__.py to __init__.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/env/env/laikago/__init__.py to __init__.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/archi/policies.py to policies.cpython-36.pyc
byte-compiling build/bdist.linux-x86_64/egg/raisim_gym/archi/__init__.py to __init__.cpython-36.pyc
creating stub loader for _raisim_gym.cpython-36m-x86_64-linux-gnu.so
byte-compiling build/bdist.linux-x86_64/egg/_raisim_gym.py to _raisim_gym.cpython-36.pyc
creating build/bdist.linux-x86_64/egg/EGG-INFO
copying raisim_gym.egg-info/PKG-INFO -> build/bdist.linux-x86_64/egg/EGG-INFO
copying raisim_gym.egg-info/SOURCES.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying raisim_gym.egg-info/dependency_links.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying raisim_gym.egg-info/not-zip-safe -> build/bdist.linux-x86_64/egg/EGG-INFO
copying raisim_gym.egg-info/requires.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying raisim_gym.egg-info/top_level.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
writing build/bdist.linux-x86_64/egg/EGG-INFO/native_libs.txt
creating 'dist/raisim_gym-0.5.0-py3.6-linux-x86_64.egg' and adding 'build/bdist.linux-x86_64/egg' to it
removing 'build/bdist.linux-x86_64/egg' (and everything under it)
Processing raisim_gym-0.5.0-py3.6-linux-x86_64.egg
removing '/usr/local/lib/python3.6/dist-packages/raisim_gym-0.5.0-py3.6-linux-x86_64.egg' (and everything under it)
creating /usr/local/lib/python3.6/dist-packages/raisim_gym-0.5.0-py3.6-linux-x86_64.egg
Extracting raisim_gym-0.5.0-py3.6-linux-x86_64.egg to /usr/local/lib/python3.6/dist-packages
raisim-gym 0.5.0 is already the active version in easy-install.pth
Installed /usr/local/lib/python3.6/dist-packages/raisim_gym-0.5.0-py3.6-linux-x86_64.egg
Processing dependencies for raisim-gym==0.5.0
Searching for stable-baselines==2.8.0
Best match: stable-baselines 2.8.0
Processing stable_baselines-2.8.0-py3.6.egg
stable-baselines 2.8.0 is already the active version in easy-install.pth
Using /usr/local/lib/python3.6/dist-packages/stable_baselines-2.8.0-py3.6.egg
Searching for numpy==1.19.1
Best match: numpy 1.19.1
Adding numpy 1.19.1 to easy-install.pth file
Installing f2py script to /usr/local/bin
Installing f2py3 script to /usr/local/bin
Installing f2py3.6 script to /usr/local/bin
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for ruamel.yaml==0.16.12
Best match: ruamel.yaml 0.16.12
Processing ruamel.yaml-0.16.12-py3.6.egg
ruamel.yaml 0.16.12 is already the active version in easy-install.pth
Using /usr/local/lib/python3.6/dist-packages/ruamel.yaml-0.16.12-py3.6.egg
Searching for gym==0.10.9
Best match: gym 0.10.9
Processing gym-0.10.9-py3.6.egg
gym 0.10.9 is already the active version in easy-install.pth
Using /usr/local/lib/python3.6/dist-packages/gym-0.10.9-py3.6.egg
Searching for scipy==1.5.2
Best match: scipy 1.5.2
Adding scipy 1.5.2 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for pandas==1.1.1
Best match: pandas 1.1.1
Processing pandas-1.1.1-py3.6-linux-x86_64.egg
pandas 1.1.1 is already the active version in easy-install.pth
Using /usr/local/lib/python3.6/dist-packages/pandas-1.1.1-py3.6-linux-x86_64.egg
Searching for opencv-python==4.4.0.42
Best match: opencv-python 4.4.0.42
Adding opencv-python 4.4.0.42 to easy-install.pth file
Using /usr/local/lib/python3.6/dist-packages
Searching for matplotlib==3.3.1
Best match: matplotlib 3.3.1
Adding matplotlib 3.3.1 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for joblib==0.16.0
Best match: joblib 0.16.0
Adding joblib 0.16.0 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for cloudpickle==1.3.0
Best match: cloudpickle 1.3.0
Adding cloudpickle 1.3.0 to easy-install.pth file
Using /usr/local/lib/python3.6/dist-packages
Searching for ruamel.yaml.clib==0.2.2
Best match: ruamel.yaml.clib 0.2.2
Processing ruamel.yaml.clib-0.2.2-py3.6-linux-x86_64.egg
ruamel.yaml.clib 0.2.2 is already the active version in easy-install.pth
Using /usr/local/lib/python3.6/dist-packages/ruamel.yaml.clib-0.2.2-py3.6-linux-x86_64.egg
Searching for pyglet==1.5.0
Best match: pyglet 1.5.0
Adding pyglet 1.5.0 to easy-install.pth file
Using /usr/local/lib/python3.6/dist-packages
Searching for six==1.15.0
Best match: six 1.15.0
Adding six 1.15.0 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for requests==2.18.4
Best match: requests 2.18.4
Adding requests 2.18.4 to easy-install.pth file
Using /usr/lib/python3/dist-packages
Searching for pytz==2018.3
Best match: pytz 2018.3
Adding pytz 2018.3 to easy-install.pth file
Using /usr/lib/python3/dist-packages
Searching for python-dateutil==2.8.1
Best match: python-dateutil 2.8.1
Adding python-dateutil 2.8.1 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for Pillow==7.2.0
Best match: Pillow 7.2.0
Adding Pillow 7.2.0 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for cycler==0.10.0
Best match: cycler 0.10.0
Adding cycler 0.10.0 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for certifi==2020.6.20
Best match: certifi 2020.6.20
Adding certifi 2020.6.20 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for pyparsing==2.4.7
Best match: pyparsing 2.4.7
Adding pyparsing 2.4.7 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for kiwisolver==1.2.0
Best match: kiwisolver 1.2.0
Adding kiwisolver 1.2.0 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for PyOpenGL==3.1.5
Best match: PyOpenGL 3.1.5
Adding PyOpenGL 3.1.5 to easy-install.pth file
Using /home/caias18/.local/lib/python3.6/site-packages
Searching for atari-py==0.2.6
Best match: atari-py 0.2.6
Adding atari-py 0.2.6 to easy-install.pth file
Using /usr/local/lib/python3.6/dist-packages
Searching for future==0.18.2
Best match: future 0.18.2
Adding future 0.18.2 to easy-install.pth file
Installing futurize script to /usr/local/bin
Installing pasteurize script to /usr/local/bin
Using /usr/local/lib/python3.6/dist-packages
Finished processing dependencies for raisim-gym==0.5.0
When trying to run the examples:
~/raisimGym$ python3.6 scripts/anymal_blind_locomotion.py
/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/lib/python3/dist-packages/requests/__init__.py:80: RequestsDependencyWarning: urllib3 (1.25.10) or chardet (3.0.4) doesn't match a supported version!
RequestsDependencyWarning)
/home/caias18/.local/lib/python3.6/site-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)])
/home/caias18/.local/lib/python3.6/site-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)])
/home/caias18/.local/lib/python3.6/site-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)])
/home/caias18/.local/lib/python3.6/site-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)])
/home/caias18/.local/lib/python3.6/site-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)])
/home/caias18/.local/lib/python3.6/site-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)])
[2020:09:08:17:24:31 OgreVis.hpp:342] Loading RaiSim OGRE Resources from: /home/caias18/raisimLib/raisim_build/share/raisimOgre/cmake/../rsc
[2020:09:08:17:24:31 OgreVis.hpp:343] Loading OGRE Configurations from: /home/caias18/raisimLib/raisim_build/share/raisimOgre/cmake/../ogre/
/home/caias18/.local/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
WARNING:tensorflow:From /usr/local/lib/python3.6/dist-packages/stable_baselines-2.8.0-py3.6.egg/stable_baselines/common/tf_util.py:57: The name tf.ConfigProto is deprecated. Please use tf.compat.v1.ConfigProto instead.
WARNING:tensorflow:From /usr/local/lib/python3.6/dist-packages/stable_baselines-2.8.0-py3.6.egg/stable_baselines/common/tf_util.py:66: The name tf.Session is deprecated. Please use tf.compat.v1.Session instead.
2020-09-08 17:24:33.132960: F tensorflow/stream_executor/lib/statusor.cc:34] Attempting to fetch value instead of handling error Internal: no supported devices found for platform CUDA
Aborted (core dumped)
The following are the outputs of nvcc and nvidia-smi:
~/raisimGym$ nvcc --version
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2018 NVIDIA Corporation
Built on Sat_Aug_25_21:08:01_CDT_2018
Cuda compilation tools, release 10.0, V10.0.130
~/raisimGym$ nvidia-smi
Tue Sep 8 17:31:46 2020
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 450.66 Driver Version: 450.66 CUDA Version: 11.0 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 GeForce GTX 108... Off | 00000000:01:00.0 On | N/A |
| N/A 54C P8 12W / N/A | 7937MiB / 8117MiB | 13% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1011 G /usr/lib/xorg/Xorg 18MiB |
| 0 N/A N/A 1117 G /usr/bin/gnome-shell 48MiB |
| 0 N/A N/A 1440 G /usr/lib/xorg/Xorg 318MiB |
| 0 N/A N/A 1572 G /usr/bin/gnome-shell 108MiB |
| 0 N/A N/A 1596 G ...mviewer/tv_bin/TeamViewer 11MiB |
| 0 N/A N/A 3262 G ...AAAAAAAAA= --shared-files 394MiB |
| 0 N/A N/A 3997 G ...token=2846616122491067091 45MiB |
| 0 N/A N/A 5157 G /usr/bin/nvidia-settings 0MiB |
| 0 N/A N/A 13972 C python3.6 6983MiB |
+-----------------------------------------------------------------------------+
Appreciate your help.
Option to Pan and Save a Recording during policy testing
Hi Jemin,
Is there an option to pan and to save a recording in RaisimOgre?
Cheers,
Ted
Quadrotor having a steady-state error and not reaching red dot.
As per the previous replies, I added the PD controller during training time. I implemented the same PD controller as the one in your BitBucket repository. After training with the PD controller, I removed it during testing time. The quadrotor is still not able to reach the red dot. I have attached a few recorded videos for your reference.
During testing: Testing
Epoch 3500: 3500
Epoch 3000: 3000
Epoch 2500: 2500
Epoch 2000: 2000
I have changed the camera to the side view so that the error in height can easily be observed.
It looks like there's some sort of steady state error in position. Could you shed some light on this behaviour?
Did you have this problem during the writing of your paper (Quadrotor control using reinforcement learning)?
Final position of the quadrotor in simulation?
Is there a way to output the final stabilising position of the quadrotor in simulation in x,y,z coordinate?
Questions on function getGeneralizedForce()
Hello. In function getGeneralizedForce(), it returns a vector which contains the torques on each joints. But how can I know the mapping relation between each joints and members in the vector. Does it depend on the link-tree generated by the urdf?
Problem in visualization
Hello, when I use kinova_stand.urdf to do Reinforcement Learning, I met the following errors. How can I fix these?
[RAISIM_GYM] Visualizing in RaiSimOgre *** buffer overflow detected ***: python3 terminated ======= Backtrace: ========= /lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7fc2ee2357e5] /lib/x86_64-linux-gnu/libc.so.6(__fortify_fail+0x5c)[0x7fc2ee2d715c] /lib/x86_64-linux-gnu/libc.so.6(+0x117160)[0x7fc2ee2d5160] /lib/x86_64-linux-gnu/libc.so.6(+0x1166c9)[0x7fc2ee2d46c9] /lib/x86_64-linux-gnu/libc.so.6(_IO_default_xsputn+0x80)[0x7fc2ee2396b0] /lib/x86_64-linux-gnu/libc.so.6(+0x5225a)[0x7fc2ee21025a] /lib/x86_64-linux-gnu/libc.so.6(_IO_vfprintf+0x1f49)[0x7fc2ee20d0b9] /lib/x86_64-linux-gnu/libc.so.6(__vsprintf_chk+0x84)[0x7fc2ee2d4754] /lib/x86_64-linux-gnu/libc.so.6(__sprintf_chk+0x7d)[0x7fc2ee2d46ad] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x19abe)[0x7fc2616b8abe] /home/wzc/raisim_build/lib/libraisimOgre.so(_ZN6raisim7OgreVis12frameStartedERKN4Ogre10FrameEventE+0xb3)[0x7fc26146d383] /home/wzc/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root17_fireFrameStartedERNS_10FrameEventE+0x98)[0x7fc2608acd48] /home/wzc/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root17_fireFrameStartedEv+0x31)[0x7fc2608ad301] /home/wzc/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root14renderOneFrameEv+0x9)[0x7fc2608ad449] /home/wzc/raisim_build/lib/libraisimOgre.so(_ZN6raisim7OgreVis14renderOneFrameEv+0x28b)[0x7fc26147098b] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x1f57d)[0x7fc2616be57d] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x1f939)[0x7fc2616be939] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x15eed)[0x7fc2616b4eed] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x26211)[0x7fc2616c5211] python3(PyCFunction_Call+0x77)[0x4e1307] python3(PyEval_EvalFrameEx+0x5a4b)[0x535fcb] python3[0x539f5f] python3(PyEval_EvalFrameEx+0x5122)[0x5356a2] python3[0x539a13] python3(PyEval_EvalFrameEx+0x5122)[0x5356a2] python3[0x539f5f] python3(PyEval_EvalFrameEx+0x5122)[0x5356a2] python3[0x539a13] python3(PyEval_EvalCode+0x1f)[0x53a6cf] python3[0x6292c2] python3(PyRun_FileExFlags+0x9a)[0x62b76a] python3(PyRun_SimpleFileExFlags+0x1bc)[0x62bf5c] python3(Py_Main+0x456)[0x63d506] python3(main+0xe1)[0x4cfd11] /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7fc2ee1de830] python3(_start+0x29)[0x5d36e9] ======= Memory map: ======== 00400000-007a7000 r-xp 00000000 08:06 4559 /usr/bin/python3.5 009a6000-009a8000 r--p 003a6000 08:06 4559 /usr/bin/python3.5 009a8000-00a3f000 rw-p 003a8000 08:06 4559 /usr/bin/python3.5 00a3f000-00a70000 rw-p 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00017000 08:06 1839630 /lib/x86_64-linux-gnu/libresolv-2.23.so 7fc25a1d8000-7fc25a1d9000 r--p 00017000 08:06 1839630 /lib/x86_64-linux-gnu/libresolv-2.23.so 7fc25a1d9000-7fc25a1da000 rw-p 00018000 08:06 1839630 /lib/x86_64-linux-gnu/libresolv-2.23.so 7fc25a1da000-7fc25a1dc000 rw-p 00000000 00:00 0 7fc25a1dc000-7fc25a269000 r-xp 00000000 08:06 11408 /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2.0.11 7fc25a269000-7fc25a468000 ---p 0008d000 08:06 11408 /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2.0.11 7fc25a468000-7fc25a484000 r--p 0008c000 08:06 11408 /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2.0.11 7fc25a484000-7fc25a485000 rw-p 000a8000 08:06 11408 /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2.0.11 7fc25a485000-7fc25a4f8000 r-xp 00000000 08:06 12048 /usr/lib/x86_64-linux-gnu/libFLAC.so.8.3.0 7fc25a4f8000-7fc25a6f8000 ---p 00073000 08:06 12048 /usr/lib/x86_64-linux-gnu/libFLAC.so.8.3.0 7fc25a6f8000-7fc25a6f9000 r--p 00073000 08:06 12048 /usr/lib/x86_64-linux-gnu/libFLAC.so.8.3.0 7fc25a6f9000-7fc25a6fa000 rw-p 00074000 08:06 12048 /usr/lib/x86_64-linux-gnu/libFLAC.so.8.3.0 7fc25a6fa000-7fc25a7d1000 r-xp 00000000 08:06 1835033 /lib/x86_64-linux-gnu/libgcrypt.so.20.0.5 7fc25a7d1000-7fc25a9d1000 ---p 000d7000 08:06 1835033 /lib/x86_64-linux-gnu/libgcrypt.so.20.0.5 7fc25a9d1000-7fc25a9d2000 r--p 000d7000 08:06 1835033 /lib/x86_64-linux-gnu/libgcrypt.so.20.0.5 7fc25a9d2000-7fc25a9da000 rw-p 000d8000 08:06 1835033 /lib/x86_64-linux-gnu/libgcrypt.so.20.0.5 7fc25a9da000-7fc25a9db000 rw-p 00000000 00:00 0 7fc25a9db000-7fc25a9fa000 r-xp 00000000 08:06 1839692 /lib/x86_64-linux-gnu/libselinux.so.1 7fc25a9fa000-7fc25abf9000 ---p 0001f000 08:06 1839692 /lib/x86_64-linux-gnu/libselinux.so.1 7fc25abf9000-7fc25abfa000 r--p 0001e000 08:06 1839692 /lib/x86_64-linux-gnu/libselinux.so.1 7fc25abfa000-7fc25abfb000 rw-p 0001f000 08:06 1839692 /lib/x86_64-linux-gnu/libselinux.so.1 7fc25abfb000-7fc25abfd000 rw-p 00000000 00:00 0 7fc25abfd000-7fc25ac02000 r-xp 00000000 08:06 12298 /usr/lib/x86_64-linux-gnu/libasyncns.so.0.3.1 7fc25ac02000-7fc25ae01000 ---p 00005000 08:06 12298 /usr/lib/x86_64-linux-gnu/libasyncns.so.0.3.1 7fc25ae01000-7fc25ae02000 r--p 00004000 08:06 12298 /usr/lib/x86_64-linux-gnu/libasyncns.so.0.3.1 7fc25ae02000-7fc25ae03000 rw-p 00005000 08:06 12298 /usr/lib/x86_64-linux-gnu/libasyncns.so.0.3.1 7fc25ae03000-7fc25ae66000 r-xp 00000000 08:06 5090 /usr/lib/x86_64-linux-gnu/libsndfile.so.1.0.25 7fc25ae66000-7fc25b066000 ---p 00063000 08:06 5090 /usr/lib/x86_64-linux-gnu/libsndfile.so.1.0.25 7fc25b066000-7fc25b068000 r--p 00063000 08:06 5090 /usr/lib/x86_64-linux-gnu/libsndfile.so.1.0.25 7fc25b068000-7fc25b069000 rw-p 00065000 08:06 5090 /usr/lib/x86_64-linux-gnu/libsndfile.so.1.0.25 7fc25b069000-7fc25b06d000 rw-p 00000000 00:00 0 7fc25b06d000-7fc25b075000 r-xp 00000000 08:06 1839720 /lib/x86_64-linux-gnu/libwrap.so.0.7.6 7fc25b075000-7fc25b274000 ---p 00008000 08:06 1839720 /lib/x86_64-linux-gnu/libwrap.so.0.7.6 7fc25b274000-7fc25b275000 r--p 00007000 08:06 1839720 /lib/x86_64-linux-gnu/libwrap.so.0.7.6 7fc25b275000-7fc25b276000 rw-p 00008000 08:06 1839720 /lib/x86_64-linux-gnu/libwrap.so.0.7.6 7fc25b276000-7fc25b277000 rw-p 00000000 00:00 0 7fc25b277000-7fc25b29b000 r-xp 00000000 08:06 1835043 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 7fc25b29b000-7fc25b49a000 ---p 00024000 08:06 1835043 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 7fc25b49a000-7fc25b49b000 r--p 00023000 08:06 1835043 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 7fc25b49b000-7fc25b49c000 rw-p 00024000 08:06 1835043 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 7fc25b49c000-7fc25b4a3000 r-xp 00000000 08:06 12578 /usr/lib/x86_64-linux-gnu/libffi.so.6.0.4[amax:15448] *** Process received signal *** [amax:15448] Signal: Aborted (6) [amax:15448] Signal code: (-6) [amax:15448] [ 0] /lib/x86_64-linux-gnu/libpthread.so.0(+0x11390)[0x7fc2ee599390] [amax:15448] [ 1] /lib/x86_64-linux-gnu/libc.so.6(gsignal+0x38)[0x7fc2ee1f3428] [amax:15448] [ 2] /lib/x86_64-linux-gnu/libc.so.6(abort+0x16a)[0x7fc2ee1f502a] [amax:15448] [ 3] /lib/x86_64-linux-gnu/libc.so.6(+0x777ea)[0x7fc2ee2357ea] [amax:15448] [ 4] /lib/x86_64-linux-gnu/libc.so.6(__fortify_fail+0x5c)[0x7fc2ee2d715c] [amax:15448] [ 5] /lib/x86_64-linux-gnu/libc.so.6(+0x117160)[0x7fc2ee2d5160] [amax:15448] [ 6] /lib/x86_64-linux-gnu/libc.so.6(+0x1166c9)[0x7fc2ee2d46c9] [amax:15448] [ 7] /lib/x86_64-linux-gnu/libc.so.6(_IO_default_xsputn+0x80)[0x7fc2ee2396b0] [amax:15448] [ 8] /lib/x86_64-linux-gnu/libc.so.6(+0x5225a)[0x7fc2ee21025a] [amax:15448] [ 9] /lib/x86_64-linux-gnu/libc.so.6(_IO_vfprintf+0x1f49)[0x7fc2ee20d0b9] [amax:15448] [10] /lib/x86_64-linux-gnu/libc.so.6(__vsprintf_chk+0x84)[0x7fc2ee2d4754] [amax:15448] [11] /lib/x86_64-linux-gnu/libc.so.6(__sprintf_chk+0x7d)[0x7fc2ee2d46ad] [amax:15448] [12] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x19abe)[0x7fc2616b8abe] [amax:15448] [13] /home/wzc/raisim_build/lib/libraisimOgre.so(_ZN6raisim7OgreVis12frameStartedERKN4Ogre10FrameEventE+0xb3)[0x7fc26146d383] [amax:15448] [14] /home/wzc/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root17_fireFrameStartedERNS_10FrameEventE+0x98)[0x7fc2608acd48] [amax:15448] [15] /home/wzc/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root17_fireFrameStartedEv+0x31)[0x7fc2608ad301] [amax:15448] [16] /home/wzc/raisim_build/lib/libOgreMain.so.1.12.1(_ZN4Ogre4Root14renderOneFrameEv+0x9)[0x7fc2608ad449] [amax:15448] [17] /home/wzc/raisim_build/lib/libraisimOgre.so(_ZN6raisim7OgreVis14renderOneFrameEv+0x28b)[0x7fc26147098b] [amax:15448] [18] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x1f57d)[0x7fc2616be57d] [amax:15448] [19] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x1f939)[0x7fc2616be939] [amax:15448] [20] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x15eed)[0x7fc2616b4eed] [amax:15448] [21] /usr/local/lib/python3.5/dist-packages/raisim_gym-0.5.0-py3.5-linux-x86_64.egg/_raisim_gym.cpython-35m-x86_64-linux-gnu.so(+0x26211)[0x7fc2616c5211] [amax:15448] [22] python3(PyCFunction_Call+0x77)[0x4e1307] [amax:15448] [23] python3(PyEval_EvalFrameEx+0x5a4b)[0x535fcb] [amax:15448] [24] python3[0x539f5f] [amax:15448] [25] python3(PyEval_EvalFrameEx+0x5122)[0x5356a2] [amax:15448] [26] python3[0x539a13] [amax:15448] [27] python3(PyEval_EvalFrameEx+0x5122)[0x5356a2] [amax:15448] [28] python3[0x539f5f] [amax:15448] [29] python3(PyEval_EvalFrameEx+0x5122)[0x5356a2] [amax:15448] *** End of error message *** ffmpeg version 2.8.15-0ubuntu0.16.04.1 Copyright (c) 2000-2018 the FFmpeg developers built with gcc 5.4.0 (Ubuntu 5.4.0-6ubuntu1~16.04.10) 20160609 configuration: --prefix=/usr --extra-version=0ubuntu0.16.04.1 --build-suffix=-ffmpeg --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --cc=cc --cxx=g++ --enable-gpl --enable-shared --disable-stripping --disable-decoder=libopenjpeg --disable-decoder=libschroedinger --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmodplug --enable-libmp3lame --enable-libopenjpeg --enable-libopus --enable-libpulse --enable-librtmp --enable-libschroedinger --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxvid --enable-libzvbi --enable-openal --enable-opengl --enable-x11grab --enable-libdc1394 --enable-libiec61883 --enable-libzmq --enable-frei0r --enable-libx264 --enable-libopencv libavutil 54. 31.100 / 54. 31.100 libavcodec 56. 60.100 / 56. 60.100 libavformat 56. 40.101 / 56. 40.101 libavdevice 56. 4.100 / 56. 4.100 libavfilter 5. 40.101 / 5. 40.101 libavresample 2. 1. 0 / 2. 1. 0 libswscale 3. 1.101 / 3. 1.101 libswresample 1. 2.101 / 1. 2.101 libpostproc 53. 3.100 / 53. 3.100 Input #0, rawvideo, from 'pipe:': Duration: N/A, start: 0.000000, bitrate: N/A Stream #0:0: Video: rawvideo (RGB[24] / 0x18424752), rgb24, 1800x1027, -2076647 kb/s, 50 tbr, 50 tbn, 50 tbc No pixel format specified, yuv444p for H.264 encoding chosen. Use -pix_fmt yuv420p for compatibility with outdated media players. [libx264 @ 0x1c6fbe0] using cpu capabilities: MMX2 SSE2Fast SSSE3 SSE4.2 AVX FMA3 AVX2 LZCNT BMI2 [libx264 @ 0x1c6fbe0] profile High 4:4:4 Predictive, level 4.2, 4:4:4 8-bit [libx264 @ 0x1c6fbe0] 264 - core 148 r2643 5c65704 - H.264/MPEG-4 AVC codec - Copyleft 2003-2015 - http://www.videolan.org/x264.html - options: cabac=1 ref=2 deblock=1:0:0 analyse=0x3:0x113 me=hex subme=6 psy=1 psy_rd=1.00:0.00 mixed_ref=1 me_range=16 chroma_me=1 trellis=1 8x8dct=1 cqm=0 deadzone=21,11 fast_pskip=1 chroma_qp_offset=4 threads=32 lookahead_threads=5 sliced_threads=0 nr=0 decimate=1 interlaced=0 bluray_compat=0 constrained_intra=0 bframes=3 b_pyramid=2 b_adapt=1 b_bias=0 direct=1 weightb=1 open_gop=0 weightp=1 keyint=250 keyint_min=25 scenecut=40 intra_refresh=0 rc_lookahead=30 rc=crf mbtree=1 crf=21.0 qcomp=0.60 qpmin=0 qpmax=69 qpstep=4 ip_ratio=1.40 aq=1:1.00 Output #0, mp4, to '/home/wzc/raisim_workspace/raisimGym/raisim_gym/env/env/cartpole/../cartpole/data/Cartpole_tutorial/2019-12-25-12-10-16/0_0.mp4': Metadata: encoder : Lavf56.40.101 Stream #0:0: Video: h264 (libx264) ([33][0][0][0] / 0x0021), yuv444p, 1800x1027, q=-1--1, 50 fps, 12800 tbn, 50 tbc Metadata: encoder : Lavc56.60.100 libx264 Stream mapping: Stream #0:0 -> #0:0 (rawvideo (native) -> h264 (libx264)) [rawvideo @ 0x1c6e620] Invalid buffer size, packet size 65536 < expected frame_size 5545800 Error while decoding stream #0:0: Invalid argument frame= 0 fps=0.0 q=0.0 Lsize= 0kB time=00:00:00.00 bitrate=N/A video:0kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: unknown Conversion failed! Aborted (core dumped)
Deploying Trained Weights for Quadcopter
Hi Jemin,
I was wondering in the quadcopter simulation, we can set desired simulation time and iterations. I was wondering whether we have to wait for the simulation to finish completely before the trained weights information is saved in the data folder?
If we want to deploy the weights, can we just use the same code in the Cartpole_Tutorial.py?
From my understanding of the code, there doesn't seemed to be any line that points to saving the configuration apart from the saver.data_dir to save the configuration from tensorboard. But what if I wanted to make a weights folder to save the quadcopter trained weights?
Issues in Running the examples
I was using raisimGym on ubuntu 16.04 without GPU, where its work fine without such issue give below, Now i am using GPU on ubuntu 18.04 where i compile all the stuff required to run the raisimGym Now after two successive attempts to run the code, i am getting the same issue again and again. the file libOgreRTShaderSystem.so.1.12.2 is found the structure below. But the error is says No such file or directory
np_resource = np.dtype([("resource", np.ubyte, 1)])
Traceback (most recent call last):
File "scripts/anymal_blind_locomotion.py", line 3, in <module>
from raisim_gym.env.env.ANYmal import __ANYMAL_RESOURCE_DIRECTORY__ as __RSCDIR__
File "/home/abc/.local/lib/python3.6/site-packages/raisim_gym-0.5.0-py3.6-linux-x86_64.egg/raisim_gym/env/env/ANYmal/__init__.py", line 2, in <module>
from _raisim_gym import *
ImportError: libOgreRTShaderSystem.so.1.12.2: cannot open shared object file: No such file or directory
LOCAL BUILD folder with all the data which required to run the code
│ │ ├── heapsort.h
│ │ │ ├── OgreSGTechniqueResolverListener.h
│ │ ├── OgreResourceBackgroundQueue.h
│ │ ├── OgreResourceGroupManager.h
│ │ ├── OgreResource.h
│ │ ├── OgreResourceManager.h
│ │ │ │ ├── OgreEllipsoidEmitterFactory.h
│ │ │ │ ├── OgreEllipsoidEmitter.h
│ │ │ │ ├── OgreHollowEllipsoidEmitterFactory.h
│ │ │ │ ├── OgreHollowEllipsoidEmitter.h
│ │ │ ├── OgreShaderCGProgramProcessor.h
│ │ │ ├── OgreShaderGLSLESProgramProcessor.h
│ │ │ ├── OgreShaderGLSLProgramProcessor.h
│ │ │ ├── OgreShaderHLSLProgramProcessor.h
│ │ │ ├── OgreShaderProgramProcessor.h
│ │ ├── OgreVolumeIsoSurface.h
│ │ ├── OgreVolumeIsoSurfaceMC.h
│ │ ├── OgreVolumeIsoSurfaceTablesMC.h
│ ├── libassimp.so -> libassimp.so.4
│ ├── libassimp.so.4 -> libassimp.so.4.1.0
│ ├── libassimp.so.4.1.0
│ ├── libOgreBites.so -> libOgreBites.so.1.12.2
│ ├── libOgreBites.so.1.12.2
│ ├── libOgreHLMS.so -> libOgreHLMS.so.1.12.2
│ ├── libOgreHLMS.so.1.12.2
│ ├── libOgreMain.so -> libOgreMain.so.1.12.2
│ ├── libOgreMain.so.1.12.2
│ ├── libOgreMeshLodGenerator.so -> libOgreMeshLodGenerator.so.1.12.2
│ ├── libOgreMeshLodGenerator.so.1.12.2
│ ├── libOgreOverlay.so -> libOgreOverlay.so.1.12.2
│ ├── libOgreOverlay.so.1.12.2
│ ├── libOgrePaging.so -> libOgrePaging.so.1.12.2
│ ├── libOgrePaging.so.1.12.2
│ ├── libOgreProperty.so -> libOgreProperty.so.1.12.2
│ ├── libOgreProperty.so.1.12.2
│ ├── libOgreRTShaderSystem.so -> libOgreRTShaderSystem.so.1.12.2
│ ├── libOgreRTShaderSystem.so.1.12.2
│ ├── libOgreTerrain.so -> libOgreTerrain.so.1.12.2
│ ├── libOgreTerrain.so.1.12.2
│ ├── libOgreVolume.so -> libOgreVolume.so.1.12.2
│ ├── libOgreVolume.so.1.12.2
│ ├── libpng16.so
│ ├── libpng16.so.16
│ ├── libpng16.so.16.38.git
│ ├── libpng.so
│ ├── libraisimODE.so
│ ├── libraisimOgre.so
│ ├── libraisim.so
│ │ ├── Codec_FreeImage.so -> Codec_FreeImage.so.1.12.2
│ │ ├── Codec_FreeImage.so.1.12.2
│ │ ├── Codec_STBI.so -> Codec_STBI.so.1.12.2
│ │ ├── Codec_STBI.so.1.12.2
│ │ ├── Plugin_BSPSceneManager.so -> Plugin_BSPSceneManager.so.1.12.2
│ │ ├── Plugin_BSPSceneManager.so.1.12.2
│ │ ├── Plugin_DotScene.so -> Plugin_DotScene.so.1.12.2
│ │ ├── Plugin_DotScene.so.1.12.2
│ │ ├── Plugin_OctreeSceneManager.so -> Plugin_OctreeSceneManager.so.1.12.2
│ │ ├── Plugin_OctreeSceneManager.so.1.12.2
│ │ ├── Plugin_OctreeZone.so -> Plugin_OctreeZone.so.1.12.2
│ │ ├── Plugin_OctreeZone.so.1.12.2
│ │ ├── Plugin_ParticleFX.so -> Plugin_ParticleFX.so.1.12.2
│ │ ├── Plugin_ParticleFX.so.1.12.2
│ │ ├── Plugin_PCZSceneManager.so -> Plugin_PCZSceneManager.so.1.12.2
│ │ ├── Plugin_PCZSceneManager.so.1.12.2
│ │ ├── RenderSystem_GL3Plus.so -> RenderSystem_GL3Plus.so.1.12.2
│ │ ├── RenderSystem_GL3Plus.so.1.12.2
│ │ ├── RenderSystem_GL.so -> RenderSystem_GL.so.1.12.2
│ │ └── RenderSystem_GL.so.1.12.2
│ │ │ │ │ ├── isosurf.cg
│ │ │ │ │ ├── IsosurfFS.glsl
│ │ │ │ │ ├── IsosurfGS.glsl
│ │ │ │ │ ├── IsosurfVS.glsl
│ │ │ │ │ ├── isosurf.hlsl
│ │ │ │ ├── IsoSurf.material
│ │ │ ├── cursor.png
│ │ │ ├── thumb_isosurf.png
│ ├── resources.cfg
│ └── resources.cfg
├── ogreResources
│ │ │ │ ├── isosurf.cg
│ │ │ │ ├── IsosurfFS.glsl
│ │ │ │ ├── IsosurfGS.glsl
│ │ │ │ ├── IsosurfVS.glsl
│ │ │ ├── isosurf.hlsl
│ │ ├── cursor.png
│ ├── thumb_isosurf.png
Option to load a pretrained model and continue training?
Is there an option to load a pretrained model and continue training?
Search path when running a runner
I was able to compile raisimGym as in the documentation. However, when I run
python3 scripts/anymal_blind_locomotion.py
I obtain the error:
File "scripts/anymal_blind_locomotion.py", line 3, in <module>
from raisim_gym.env.env.ANYmal import __ANYMAL_RESOURCE_DIRECTORY__ as __RSCDIR__
File "/home/cha_blouin/raisim_workspace/raisimGym/raisim_gym/env/env/ANYmal/__init__.py", line 2, in <module>
from _raisim_gym import *
ModuleNotFoundError: No module named '_raisim_gym'
I had to add raisimGym to the Pythonpath. Is that the way the module is intended to be installed? Without adding the folder to the pythonpath, there is an import error immediately with the missing raisim_gym package.
Thank you,
undefined symbol error when running "python3 scripts/anymal_blind_locomotion.py"
Thank you for great work.
I faced the following error when executing "python3 scripts/anymal_blind_locomotion.py" command as instructed from the readme.
Traceback (most recent call last):
File "scripts/anymal_bind_locomotion.py", line 2, in <module>
from raisim_gym.env.RaisimGymVecEnv import RaisimGymVecEnv as Environment
File "/home/username/miniconda3/envs/conda_raiGym/lib/python3.7/site-packages/raisim_gym-0.0.0-py3.7-linux-x86_64.egg/raisim_gym/__init__.py", line 1, in <module>
from _raisim_gym import *
ImportError: /home/username/workspace/raisim_env/lib/libraisimOgre.so: undefined symbol: _ZN6aiNode8FindNodeEPKcI am using Ubuntu 16.04, g++ 8, gcc8, with conda python 3.7.3, tf 1.14.0 (CPU), cmake 3.13.4
It looks like some version issue on Ogre...
set seed possible bug
Hello,
In RaisimGymVecEnv.py line 23, I think we should see:
def seed(self, seed=None):
self.wrapper.setSeed(seed)
instead of:
def seed(self, seed=None):
self.wrapper.seed(seed)
wrong getGeneralizedForce()
Hi, I tried to print getGeneralizedForce() but did not have a right force format.
Segmentation fault when run train in docker
We try to run train process in docker in Azure with no gpu and get "Segmentation fault".
I tryed [https://github.com//issues/4], it doesn't work.
An error occurs on this line "from _raisim_gym import RaisimGymEnv" of python file with example.
TypeError: savez() argument after ** must be a mapping, not list
I tried the example anymal and laikago but only runner a while . then error TypeError: savez() argument after ** must be a mapping, not list .
I am using Ubuntu 16.04, g++ 8, gcc8, with python3.5 ,
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