robot-learning-freiburg / mobile-rl Goto Github PK

Excuse me, I got many warnings like this when I run the main_ray.py for pr2 and then failed, I think it may because pybuildings_robot can't find the model of pr2, do you know how to find out these problems?

Seems that the launch file used for running the MPC baseline is missing. Is there any chance you can share the files necessary for running ocs2 baseline? Thanks!

What did you do?

• followed steps from "Local installation" in Readme
• tried to run the training script and rviz:
  "wandb offline"
  "python src/modulation_rl/scripts/main_ray.py --load_bt_defaults --num_gpus 0.24 --num_workers 0 --num_cpus_per_worker 1 --num_envs_per_worker 1 --num_gpus_per_worker 0 --ray_verbosity 2 --training_intensity 0.1 --load_best_defaults --vis_env -d"
  "rviz -d src/modulation_rl/rviz/rviz_config_pr2_real.rviz"

What did you expect to happen?

• gazebo starting up and see the robot training procedure
• seeing robot_model and sensor data in rviz

What actually happened?
terminal output:
Log path: /home/nsc/repos/n2m2_catkin_ws/src/modulation_rl/scripts/logs
/home/nsc/anaconda3/envs/modulation_rl/lib/python3.7/site-packages/ray/_private/services.py:238: UserWarning: Not all Ray Dashboard dependencies were found. To use the dashboard please install Ray using pip install ray[default]. To disable this message, set RAY_DISABLE_IMPORT_WARNING env var to '1'.
warnings.warn(warning_message)
== Status ==
Memory usage on this node: 6.7/7.7 GiB
Using FIFO scheduling algorithm.
Resources requested: 0/4 CPUs, 0/0 GPUs, 0.0/1.44 GiB heap, 0.0/0.72 GiB objects
Result logdir: /home/nsc/repos/n2m2_catkin_ws/src/modulation_rl/scripts/logs/ray/pr2_acceleration_penalty:0.05_dry_run:T_learn_torso:T_learn_vel_norm:0.1_training_intensity:0.1_transition_noise_base:0.04_mindispl1.0,0.0,1.0
Number of trials: 1/1 (1 PENDING)
== Status ==
Memory usage on this node: 6.6/7.7 GiB
Using FIFO scheduling algorithm.
Resources requested: 0/4 CPUs, 0/0 GPUs, 0.0/1.44 GiB heap, 0.0/0.72 GiB objects
Result logdir: /home/nsc/repos/n2m2_catkin_ws/src/modulation_rl/scripts/logs/ray/pr2_acceleration_penalty:0.05_dry_run:T_learn_torso:T_learn_vel_norm:0.1_training_intensity:0.1_transition_noise_base:0.04_mindispl1.0,0.0,1.0
Number of trials: 1/1 (1 PENDING)
...

Probably I missed a certain procedure. Can you help me? :)