Installation of the conda environment for windows about gym-pybullet-drones

[JacopoPan]

hi @shanki98

I do not have a windows machine at hand right now but the only additional packages (not included by conda create) should be

pip install gym
pip install pybullet
pip install 'ray[rllib]'

and pip install stable-baselines3 for examples/learn.py

let me know if you have any issue (possibly include the terminal output)

[shanki98]

Hey @JacopoPan , I was able to run the simulator on windows. I tried running the file "fly.py", which uses PID Control, But I just see the quadrotor floating in air . Why is this and what should I do?. Parallelly, I also tried installing it in Ubuntu 16.04 but somehow I keep getting the modulenotfound error for "gym_pybullet_drones". You had said you tested it for ubuntu. Can you maybe upload a required package list for ubuntu? that would be very helpful.

[JacopoPan]

Hi @shanki98

Please go to the repository folder and run git pull to make sure you are using the most up to date code

Script fly.py should contain 3 drones flying on a circular trajectory at different altitudes

With regard to the “module not found” error, make sure you have installed the package with pip install -e .

[shanki98]

This is my error now in the Ubuntu environment. I cloned the repository today. Could you tell me what seems to be the problem @JacopoPan
pybullet build time: Sep 22 2020 00:56:01
[INFO] BaseAviary.init() loaded parameters from the drone's .urdf:
[INFO] m 0.027000, L 0.039700,
[INFO] ixx 0.000014, iyy 0.000014, izz 0.000022,
[INFO] kf 0.000000, km 0.000000,
[INFO] t2w 2.250000, max_speed_kmh 30.000000,
[INFO] gnd_eff_coeff 11.368590, prop_radius 0.023135,
[INFO] drag_xy_coeff 0.000001, drag_z_coeff 0.000001,
[INFO] dw_coeff_1 2267.180000, dw_coeff_2 0.160000, dw_coeff_3 -0.110000
startThreads creating 1 threads.
starting thread 0
started thread 0
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Segmentation fault (core dumped)

[JacopoPan]

This my output on Ubuntu 18, it seems that you have a SEGFAULT just before Created GL 3.3 context

(base) jacopo@Computer:~/gym-pybullet-drones/examples$ python fly.py 
pybullet build time: Jul  8 2020 18:24:12
[INFO] BaseAviary.__init__() loaded parameters from the drone's .urdf:
[INFO] m 0.027000, L 0.039700,
[INFO] ixx 0.000014, iyy 0.000014, izz 0.000022,
[INFO] kf 0.000000, km 0.000000,
[INFO] t2w 2.250000, max_speed_kmh 30.000000,
[INFO] gnd_eff_coeff 11.368590, prop_radius 0.023135,
[INFO] drag_xy_coeff 0.000001, drag_z_coeff 0.000001,
[INFO] dw_coeff_1 2267.180000, dw_coeff_2 0.160000, dw_coeff_3 -0.110000
startThreads creating 1 threads.
starting thread 0
started thread 0 
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=NVIDIA Corporation
GL_RENDERER=Quadro P2000/PCIe/SSE2
GL_VERSION=3.3.0 NVIDIA 450.66
GL_SHADING_LANGUAGE_VERSION=3.30 NVIDIA via Cg compiler
pthread_getconcurrency()=0
Version = 3.3.0 NVIDIA 450.66
Vendor = NVIDIA Corporation
Renderer = Quadro P2000/PCIe/SSE2
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started

I'd say the problem is with PyBullet failing to create an OpenGL context.
Look at this issue bulletphysics/bullet3#1681
Are you using a virtual machine?
If the problem is with OpenGL3, you could try to change line 103 in BaseAviary.py to

self.CLIENT = p.connect(p.GUI, options="--opengl2")

[shanki98]

@JacopoPan Yes, I'm using vmware (virtual machine) inside my laptop to run Ubuntu 16.04.
I still get this output
pybullet build time: Sep 22 2020 00:56:01
[INFO] BaseAviary.init() loaded parameters from the drone's .urdf:
[INFO] m 0.027000, L 0.039700,
[INFO] ixx 0.000014, iyy 0.000014, izz 0.000022,
[INFO] kf 0.000000, km 0.000000,
[INFO] t2w 2.250000, max_speed_kmh 30.000000,
[INFO] gnd_eff_coeff 11.368590, prop_radius 0.023135,
[INFO] drag_xy_coeff 0.000001, drag_z_coeff 0.000001,
[INFO] dw_coeff_1 2267.180000, dw_coeff_2 0.160000, dw_coeff_3 -0.110000
argv[0]=--opengl2
startThreads creating 1 threads.
starting thread 0
started thread 0
argc=3
argv[0] = --unused
argv[1] = --opengl2
argv[2] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
4

visual 0x21 selected

Segmentation fault (core dumped)

[shanki98]

When I tried it on windows I was able to get the rendering but as I mentioned the drone does not move. Ignore the last error because I closed the connection.
pybullet build time: Sep 14 2020 14:51:33
WARNING:tensorflow:From C:\Users\shash\anaconda3\lib\site-packages\tensorflow\python\compat\v2_compat.py:96: disable_resource_variables (from tensorflow.python.ops.variable_scope) is deprecated and will be removed in a future version.
Instructions for updating:
non-resource variables are not supported in the long term
[INFO] BaseAviary.init() loaded parameters from the drone's .urdf:
[INFO] m 0.027000, L 0.039700,
[INFO] ixx 0.000014, iyy 0.000014, izz 0.000022,
[INFO] kf 0.000000, km 0.000000,
[INFO] t2w 2.250000, max_speed_kmh 30.000000,
[INFO] gnd_eff_coeff 11.368590, prop_radius 0.023135,
[INFO] drag_xy_coeff 0.000001, drag_z_coeff 0.000001,
[INFO] dw_coeff_1 2267.180000, dw_coeff_2 0.160000, dw_coeff_3 -0.110000
starting thread 0
started testThreads thread 0 with threadHandle 0000000000000250
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
Version = 4.6.0 NVIDIA 451.67
Vendor = NVIDIA Corporation
Renderer = GeForce MX250/PCIe/SSE2
b3Printf: Selected demo: Physics Server
starting thread 0
started MotionThreads thread 0 with threadHandle 0000000000000E0C
MotionThreadFunc thread started
viewMatrix (-0.8660253882408142, -0.2499999701976776, 0.4330126941204071, 0.0, 0.0, 0.8660253286361694, 0.4999999701976776, 0.0, -0.4999999701976776, 0.4330126643180847, -0.75, 0.0, -0.0, 5.960464477539063e-08, -2.999999761581421, 1.0)
projectionMatrix (1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0)
C:\Users\shash\anaconda3\lib\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'))

[INFO] BaseAviary.render() ——— it 0001 ——— wall-clock time 1.6s, simulation time 0.0s@240Hz (0.00x)
[INFO] BaseAviary.render() ——— drone 0 ——— x +00.00, y +00.00, z +00.10 ——— velocity +00.00, +00.00, -00.04 ——— roll +00.00, pitch -00.00, yaw +00.00 ——— angular velocities +00.00, +00.00, +00.00 ———

[INFO] BaseAviary.render() ——— it 0241 ——— wall-clock time 13.6s, simulation time 1.0s@240Hz (0.07x)
[INFO] BaseAviary.render() ——— drone 0 ——— x -00.10, y -00.03, z +00.10 ——— velocity -00.16, -00.07, +00.00 ——— roll +00.42, pitch +00.74, yaw -00.03 ——— angular velocities +12.73, -15.06, -02.03 ———

[INFO] BaseAviary.render() ——— it 0481 ——— wall-clock time 25.6s, simulation time 2.0s@240Hz (0.08x)
[INFO] BaseAviary.render() ——— drone 0 ——— x -00.25, y -00.13, z +00.10 ——— velocity -00.12, -00.15, -00.00 ——— roll +01.05, pitch -00.01, yaw -00.01 ——— angular velocities +16.38, -03.90, -01.61 ———
numActiveThreads = 0
stopping threads
Thread with taskId 0 with handle 0000000000000E0C exiting
Thread TERMINATED
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 with handle 0000000000000250 exiting
Thread TERMINATED
Traceback (most recent call last):
File "examples/fly.py", line 58, in
obs, reward, done, info = env.step(action)
File "c:\tue\internship\crazyflie simulator\gym-pybullet-drones-master\gym_pybullet_drones\envs\BaseAviary.py", line 188, in step
self._showDroneFrame(i)
File "c:\tue\internship\crazyflie simulator\gym-pybullet-drones-master\gym_pybullet_drones\envs\BaseAviary.py", line 487, in _showDroneFrame
self.Y_AX[nth_drone] = p.addUserDebugLine(lineFromXYZ=[0,0,0], lineToXYZ=[0,AXIS_LENGTH,0], lineColorRGB=[0,1,0], parentObjectUniqueId=self.DRONE_IDS[nth_drone], parentLinkIndex=-1, replaceItemUniqueId=int(self.Y_AX[nth_drone]), physicsClientId=self.CLIENT)
pybullet.error: Not connected to physics server. % ignore this one

[JacopoPan]

are you simply running

python fly.py

or are you passing any argument, e.g.

python fly.py --num_drones 1

note that the drone is moving but your simulation is running much slower (0.08x) than the wall clock

P.S. in fact, you shouldn't see the sliders on the GUI if are just running python fly.py with the current commit..
Are you perhaps having a problem with argparse under Windows (see link, link)?

If so, try to add these lines in fly.py AFTER ARGS = parser.parse_args()

    ARGS.num_drones = 3
    ARGS.vision = False
    ARGS.gui = True
    ARGS.plot = True
    ARGS.aggregate = False
    ARGS.aggregate = False
    ARGS.simulation_freq_hz = 240
    ARGS.control_freq_hz = 48
    ARGS.duration_sec = 15

[shanki98]

@JacopoPan Yes, it now seems to work with proper rendering in OpenGL 3 in Windows. But the rotor doesn't seem to be moving as you show in the GIF. It is tracking the circular trajectory. Further, I also wanted to ask you this question that I am trying to implement MPC on this, is it enough if I just replace the PID controller with MPC, or should I change any other modules?

[JacopoPan]

Yes, the gif is from an older commit, the tracked (planar) trajectory is the TARGET_POS = np.zeros((NUM_WP,3)) array whose values are initialized on line 54 (and it's currently circular)
https://github.com/JacopoPan/gym-pybullet-drones/blob/d2b08fa49334e93db512c5ef5b1993ab18bcc555/examples/fly.py#L54

For the second point, I imagine that you will want to modify or replace the call to computeControlFromState, which produces rotor speeds given the current state=obs[str(j)]["state"] and target_pos
https://github.com/JacopoPan/gym-pybullet-drones/blob/d2b08fa49334e93db512c5ef5b1993ab18bcc555/examples/fly.py#L81

Also, could you please write down how you overcame the argparse problem on Windows?

[shanki98]

Hey @JacopoPan , I didn't parse any arguments through the interactive shell, I simply changed the num_drones to 1 instead of 3