Model (keras) error

[Elfits]

Brilliant work!! I am running the env_viewer.py but I get one error on the model. I think it is due to the version of keras. Which version of keras and tensorflow did you use? FYI, here is the error log:

E:\anaconda\python.exe F:/assistive-gym-test/examples/random_actions.py pybullet build time: Feb 18 2020 16:57:18 Using TensorFlow backend. 2020-02-18 17:19:39.678134: I tensorflow/stream_executor/platform/default/dso_loader.cc:44] Successfully opened dynamic library cudart64_100.dll WARNING:tensorflow:From E:\anaconda\lib\site-packages\tensorflow_core\python\compat\v2_compat.py:65: 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 Traceback (most recent call last): File "F:/assistive-gym-test/examples/random_actions.py", line 3, in env = gym.make('FeedingPR2-v0') File "E:\anaconda\lib\site-packages\gym\envs\registration.py", line 156, in make return registry.make(id, kwargs) File "E:\anaconda\lib\site-packages\gym\envs\registration.py", line 101, in make env = spec.make(kwargs) File "E:\anaconda\lib\site-packages\gym\envs\registration.py", line 73, in make env = cls(**_kwargs) File "F:\assistive-gym-test\assistive_gym\envs\feeding_robots.py", line 5, in init super(FeedingPR2Env, self).init(robot_type='pr2', human_control=False) File "F:\assistive-gym-test\assistive_gym\envs\feeding.py", line 10, in init super(FeedingEnv, self).init(robot_type=robot_type, task='feeding', human_control=human_control, frame_skip=10, time_step=0.01, action_robot_len=7, action_human_len=(4 if human_control else 0), obs_robot_len=25, obs_human_len=(23 if human_control else 0)) File "F:\assistive-gym-test\assistive_gym\envs\env.py", line 63, in init self.human_limits_model = load_model(os.path.join(self.world_creation.directory, 'realistic_arm_limits_model.h5')) File "E:\anaconda\lib\site-packages\keras\models.py", line 239, in load_model model = model_from_config(model_config, custom_objects=custom_objects) File "E:\anaconda\lib\site-packages\keras\models.py", line 313, in model_from_config return layer_module.deserialize(config, custom_objects=custom_objects) File "E:\anaconda\lib\site-packages\keras\layers__init__.py", line 54, in deserialize printable_module_name='layer') File "E:\anaconda\lib\site-packages\keras\utils\generic_utils.py", line 139, in deserialize_keras_object list(custom_objects.items()))) File "E:\anaconda\lib\site-packages\keras\models.py", line 1208, in from_config if 'class_name' not in config[0] or config[0]['class_name'] == 'Merge': KeyError: 0

[Zackory]

Hi Zhihao,

Here is a requirements.txt file with all of the Python libraries needed for a clean install of Assistive Gym.

requirements.txt

[Elfits]

Thanks!! I updated keras to 2.3.1 and solved this problem. However, after I run the random-actions.py in the examples, here are still errors:

Traceback (most recent call last): File "F:/assistive-gym-test/examples/random_actions.py", line 5, in observation = env.reset() File "E:\anaconda\lib\site-packages\gym\wrappers\time_limit.py", line 25, in reset return self.env.reset(*kwargs) File "F:\assistive-gym-test\assistive_gym\envs\feeding.py", line 104, in reset self.human, self.wheelchair, self.robot, self.robot_lower_limits, self.robot_upper_limits, self.human_lower_limits, self.human_upper_limits, self.robot_right_arm_joint_indices, self.robot_left_arm_joint_indices, self.gender = self.world_creation.create_new_world(furniture_type='wheelchair', static_human_base=True, human_impairment='random', print_joints=False, gender='random') File "F:\assistive-gym-test\assistive_gym\envs\world_creation.py", line 66, in create_new_world human, human_lower_limits, human_upper_limits = self.init_human(static_human_base, self.human_limit_scale, print_joints, gender=gender) File "F:\assistive-gym-test\assistive_gym\envs\world_creation.py", line 89, in init_human human = self.human_creation.create_human(static=static_human_base, limit_scale=limit_scale, specular_color=[0.1, 0.1, 0.1], gender=gender, config=self.config) File "F:\assistive-gym-test\assistive_gym\envs\human_creation.py", line 265, in create_human human = p.createMultiBody(baseMass=0 if static else m0.1, baseCollisionShapeIndex=chest_c, baseVisualShapeIndex=chest_v, basePosition=chest_p, baseOrientation=[0, 0, 0, 1], linkMasses=linkMasses, linkCollisionShapeIndices=linkCollisionShapeIndices, linkVisualShapeIndices=linkVisualShapeIndices, linkPositions=linkPositions, linkOrientations=linkOrientations, linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations, linkParentIndices=linkParentIndices, linkJointTypes=linkJointTypes, linkJointAxis=linkJointAxis, linkLowerLimits=linkLowerLimits, linkUpperLimits=linkUpperLimits, useMaximalCoordinates=False, flags=p.URDF_USE_SELF_COLLISION, physicsClientId=self.id) TypeError: 'linkLowerLimits' is an invalid keyword argument for this function

[Zackory]

It looks like you may have the original pybullet library installed. You will want to install a customized pybullet here: https://github.com/Zackory/bullet3 Further details can be found here: https://github.com/Healthcare-Robotics/assistive-gym/wiki/1.-Install

This custom pybullet library includes python wrappers for cloth simulation and human joint limits in pybullet.

[Elfits]

Thanks!! It works now! I think this issue (question) can be closed now and hope it would also be helpful for other beginners. BTW, you and your team's work are so impressive! It is definitely a valuable project for deploying reinforcement learning with python bullet. I also visited your personal website and your experience and works are so brilliant! I will learn from you. : )

[Zackory]

Thank you. =)