Closed Parabolakit closed 6 days ago
ScheiklP
commented
3 weeks ago Hi @Parabolakit , could you try changing this line https://github.com/ScheiklP/sofa_env/blob/main/sofa_env/scenes/pick_and_place/scene_description.py#L178C77-L178C95
to board_visual_function = add_visual_model?
Cheers, Paul
Parabolakit
commented
3 weeks ago Hi @ScheiklP,
I tried it. The same error occurs.
Best, Parabola
ScheiklP
commented
3 weeks ago Hi @Parabolakit ,
could you further try to uninstall PyOpenGL-accelerate?
pip uninstall PyOpenGL-accelerate
Cheers, Paul
Parabolakit
commented
3 weeks ago Hi @ScheiklP ,
The error is the same. I printed out the packages I installed in the activated conda environment as below.
_libgcc_mutex 0.1 main
_openmp_mutex 5.1 1_gnu
absl-py 2.1.0 pypi_0 pypi
adastop 0.1.2 pypi_0 pypi
addict 2.4.0 pypi_0 pypi
alabaster 0.7.16 pypi_0 pypi
ale-py 0.8.1 pypi_0 pypi
appdirs 1.4.4 pypi_0 pypi
asttokens 2.4.1 pypi_0 pypi
attrs 23.2.0 pypi_0 pypi
autodocsumm 0.2.12 pypi_0 pypi
autorom 0.6.1 pypi_0 pypi
autorom-accept-rom-license 0.6.1 pypi_0 pypi
babel 2.14.0 pypi_0 pypi
blinker 1.7.0 pypi_0 pypi
bzip2 1.0.8 h7b6447c_0 anaconda
c-ares 1.19.1 h5eee18b_0 anaconda
ca-certificates 2024.3.11 h06a4308_0
cachetools 5.3.2 pypi_0 pypi
certifi 2024.2.2 pypi_0 pypi
cffi 1.16.0 pypi_0 pypi
charset-normalizer 3.3.2 pypi_0 pypi
click 8.1.7 pypi_0 pypi
cloudpickle 3.0.0 pypi_0 pypi
colorama 0.4.6 pypi_0 pypi
comm 0.2.1 pypi_0 pypi
configargparse 1.7 pypi_0 pypi
contourpy 1.2.0 pypi_0 pypi
curl 8.5.0 hdbd6064_0
cvzone 1.6.1 pypi_0 pypi
cycler 0.12.1 pypi_0 pypi
cython 3.0.8 pypi_0 pypi
dash 2.15.0 pypi_0 pypi
dash-core-components 2.0.0 pypi_0 pypi
dash-html-components 2.0.0 pypi_0 pypi
dash-table 5.0.0 pypi_0 pypi
decorator 4.4.2 pypi_0 pypi
dill 0.3.8 pypi_0 pypi
docker-pycreds 0.4.0 pypi_0 pypi
docopt 0.6.2 pypi_0 pypi
docutils 0.20.1 pypi_0 pypi
exceptiongroup 1.2.0 pypi_0 pypi
executing 2.0.1 pypi_0 pypi
expat 2.5.0 h6a678d5_0 anaconda
farama-notifications 0.0.4 pypi_0 pypi
fastjsonschema 2.19.1 pypi_0 pypi
fdasrsf 2.5.2 pypi_0 pypi
filelock 3.13.1 pypi_0 pypi
flask 3.0.2 pypi_0 pypi
flatbuffers 24.3.7 pypi_0 pypi
fonttools 4.48.1 pypi_0 pypi
freetype-py 2.4.0 pypi_0 pypi
fsspec 2024.2.0 pypi_0 pypi
future 1.0.0 pypi_0 pypi
gdbm 1.18 hd4cb3f1_4 anaconda
gettext 0.21.0 h39681ba_1 anaconda
git 2.40.1 pl5340h36fbf9e_1
gitdb 4.0.11 pypi_0 pypi
gitpython 3.1.41 pypi_0 pypi
glfw 2.7.0 pypi_0 pypi
google-auth 2.27.0 pypi_0 pypi
google-auth-oauthlib 1.2.0 pypi_0 pypi
grpcio 1.60.1 pypi_0 pypi
gym 0.22.0 pypi_0 pypi
gym-notices 0.0.8 pypi_0 pypi
gymnasium 0.28.1 pypi_0 pypi
icu 73.1 h6a678d5_0 anaconda
idna 3.6 pypi_0 pypi
imageio 2.33.1 pypi_0 pypi
imageio-ffmpeg 0.4.9 pypi_0 pypi
imagesize 1.4.1 pypi_0 pypi
importlib-metadata 4.13.0 pypi_0 pypi
importlib-resources 6.1.1 pypi_0 pypi
iniconfig 2.0.0 pypi_0 pypi
inputs 0.5 pypi_0 pypi
install 1.3.5 pypi_0 pypi
ipython 8.18.1 pypi_0 pypi
ipywidgets 8.1.1 pypi_0 pypi
itsdangerous 2.1.2 pypi_0 pypi
jax 0.4.25 pypi_0 pypi
jax-jumpy 1.0.0 pypi_0 pypi
jaxlib 0.4.25 pypi_0 pypi
jedi 0.19.1 pypi_0 pypi
jinja2 3.1.3 pypi_0 pypi
joblib 1.3.2 pypi_0 pypi
jsonschema 4.21.1 pypi_0 pypi
jsonschema-specifications 2023.12.1 pypi_0 pypi
jupyter-core 5.7.1 pypi_0 pypi
jupyterlab-widgets 3.0.9 pypi_0 pypi
kiwisolver 1.4.5 pypi_0 pypi
krb5 1.20.1 h143b758_1
ld_impl_linux-64 2.38 h1181459_1
libcurl 8.5.0 h251f7ec_0
libedit 3.1.20221030 h5eee18b_0 anaconda
libev 4.33 h7f8727e_1 anaconda
libffi 3.4.4 h6a678d5_0
libgcc-ng 11.2.0 h1234567_1
libgomp 11.2.0 h1234567_1
libnghttp2 1.57.0 h2d74bed_0
libssh2 1.10.0 hdbd6064_2
libstdcxx-ng 11.2.0 h1234567_1
libxml2 2.10.4 hf1b16e4_1 anaconda
livereload 2.6.3 pypi_0 pypi
llvmlite 0.42.0 pypi_0 pypi
markdown 3.5.2 pypi_0 pypi
markdown-it-py 3.0.0 pypi_0 pypi
markupsafe 2.1.5 pypi_0 pypi
matplotlib 3.8.2 pypi_0 pypi
matplotlib-inline 0.1.6 pypi_0 pypi
mdurl 0.1.2 pypi_0 pypi
mediapipe 0.10.11 pypi_0 pypi
ml-dtypes 0.3.2 pypi_0 pypi
moviepy 1.0.3 pypi_0 pypi
mpmath 1.3.0 pypi_0 pypi
multimethod 1.10 pypi_0 pypi
nbformat 5.9.2 pypi_0 pypi
ncurses 6.4 h6a678d5_0
nest-asyncio 1.6.0 pypi_0 pypi
networkx 2.2 pypi_0 pypi
numba 0.59.0 pypi_0 pypi
numpy 1.26.4 pypi_0 pypi
numpy-stl 3.1.1 pypi_0 pypi
nvidia-cublas-cu12 12.1.3.1 pypi_0 pypi
nvidia-cuda-cupti-cu12 12.1.105 pypi_0 pypi
nvidia-cuda-nvrtc-cu12 12.1.105 pypi_0 pypi
nvidia-cuda-runtime-cu12 12.1.105 pypi_0 pypi
nvidia-cudnn-cu12 8.9.2.26 pypi_0 pypi
nvidia-cufft-cu12 11.0.2.54 pypi_0 pypi
nvidia-curand-cu12 10.3.2.106 pypi_0 pypi
nvidia-cusolver-cu12 11.4.5.107 pypi_0 pypi
nvidia-cusparse-cu12 12.1.0.106 pypi_0 pypi
nvidia-nccl-cu12 2.19.3 pypi_0 pypi
nvidia-nvjitlink-cu12 12.3.101 pypi_0 pypi
nvidia-nvtx-cu12 12.1.105 pypi_0 pypi
oauthlib 3.2.2 pypi_0 pypi
open3d 0.18.0 pypi_0 pypi
opencv-contrib-python 4.9.0.80 pypi_0 pypi
opencv-python 4.9.0.80 pypi_0 pypi
openssl 3.0.13 h7f8727e_0
opt-einsum 3.3.0 pypi_0 pypi
packaging 23.2 pypi_0 pypi
pandas 2.1.0 pypi_0 pypi
parso 0.8.3 pypi_0 pypi
patsy 0.5.6 pypi_0 pypi
pcre2 10.42 hebb0a14_0 anaconda
perl 5.34.0 h5eee18b_2 anaconda
pexpect 4.9.0 pypi_0 pypi
pillow 10.2.0 pypi_0 pypi
pip 24.0 pypi_0 pypi
platformdirs 4.2.0 pypi_0 pypi
plotly 5.18.0 pypi_0 pypi
pluggy 1.4.0 pypi_0 pypi
proglog 0.1.10 pypi_0 pypi
prompt-toolkit 3.0.43 pypi_0 pypi
protobuf 3.20.3 pypi_0 pypi
psutil 5.9.8 pypi_0 pypi
ptyprocess 0.7.0 pypi_0 pypi
pure-eval 0.2.2 pypi_0 pypi
pyasn1 0.5.1 pypi_0 pypi
pyasn1-modules 0.3.0 pypi_0 pypi
pybind11 2.6.1 py39h081fc7a_0 conda-forge
pybind11-global 2.6.1 pypi_0 pypi
pycparser 2.21 pypi_0 pypi
pygame 2.5.2 pypi_0 pypi
pygame-ce 2.4.1 pypi_0 pypi
pyglet 1.5.21 pypi_0 pypi
pygments 2.17.2 pypi_0 pypi
pyopengl 3.1.7 pypi_0 pypi
pyparsing 3.1.1 pypi_0 pypi
pyquaternion 0.9.9 pypi_0 pypi
pytest 8.0.0 pypi_0 pypi
python 3.9.19 h955ad1f_0
python-dateutil 2.8.2 pypi_0 pypi
python-utils 3.8.2 pypi_0 pypi
python_abi 3.9 2_cp39 conda-forge
pytz 2024.1 pypi_0 pypi
pyyaml 6.0.1 pypi_0 pypi
readline 8.2 h5eee18b_0
referencing 0.33.0 pypi_0 pypi
requests 2.31.0 pypi_0 pypi
requests-oauthlib 1.3.1 pypi_0 pypi
retrying 1.3.4 pypi_0 pypi
rich 13.7.1 pypi_0 pypi
rlberry 0.5.0 pypi_0 pypi
rpds-py 0.17.1 pypi_0 pypi
rsa 4.9 pypi_0 pypi
scikit-learn 1.4.0 pypi_0 pypi
scipy 1.12.0 pypi_0 pypi
seaborn 0.12.2 pypi_0 pypi
sentry-sdk 1.40.1 pypi_0 pypi
setproctitle 1.3.3 pypi_0 pypi
setuptools 68.2.2 py39h06a4308_0
shimmy 0.2.1 pypi_0 pypi
six 1.16.0 pypi_0 pypi
smmap 5.0.1 pypi_0 pypi
snowballstemmer 2.2.0 pypi_0 pypi
sofa-env 0.0.1 dev_0
stable-baselines3 2.2.1 pypi_0 pypi
stack-data 0.6.3 pypi_0 pypi
sympy 1.12 pypi_0 pypi
tabulate 0.9.0 pypi_0 pypi
tenacity 8.2.3 pypi_0 pypi
tensorboard 2.15.1 pypi_0 pypi
tensorboard-data-server 0.7.2 pypi_0 pypi
tensordict 0.3.1 pypi_0 pypi
threadpoolctl 3.2.0 pypi_0 pypi
tk 8.6.12 h1ccaba5_0
tomli 2.0.1 pypi_0 pypi
torch 2.2.2 pypi_0 pypi
torchrl 0.3.1 pypi_0 pypi
torchvision 0.17.0 pypi_0 pypi
tornado 6.4 pypi_0 pypi
tqdm 4.66.1 pypi_0 pypi
traitlets 5.14.1 pypi_0 pypi
trimesh 4.2.0 pypi_0 pypi
triton 2.2.0 pypi_0 pypi
typing-extensions 4.9.0 pypi_0 pypi
tzdata 2023.4 pypi_0 pypi
urllib3 2.2.0 pypi_0 pypi
wandb 0.16.2 pypi_0 pypi
wcwidth 0.2.13 pypi_0 pypi
werkzeug 3.0.1 pypi_0 pypi
wheel 0.41.2 py39h06a4308_0
widgetsnbextension 4.0.9 pypi_0 pypi
xz 5.4.6 h5eee18b_0
zipp 3.17.0 pypi_0 pypi
zlib 1.2.13 h5eee18b_0
Best wishes, Parabola
ScheiklP
commented
3 weeks ago Huh, weird.
Could you try running the environment outside the RL loop?
python3 <path_to_sofa_env>/sofa_env/scenes/pick_and_place/pick_and_place_env.py?
Parabolakit
commented
3 weeks ago hi @ScheiklP ,
It worked when I ran the SOFA scene in sofa_env. The object was grasped by the tool.
Best, Parabola
ScheiklP
commented
3 weeks ago Hi @Parabolakit ,
so in general, self._update_sofa_visuals() works fine, that is good.
Did you install sofa_env through pip install -e <path/to/sofa_env> (with the -e flag) so that changes in to the code are reflected in the package, when you use sofa_zoo?
Cheers, Paul
Parabolakit
commented
1 week ago Hi @Parabolakit ,
so in general,
self._update_sofa_visuals()works fine, that is good.Did you install sofa_env through
pip install -e <path/to/sofa_env>(with the-eflag) so that changes in to the code are reflected in the package, when you use sofa_zoo?Cheers,
Paul
Hi Paul,
I did this step. I will try to install in another computer to see whether it has rendering problem. As my error is related to OpenGL, I installed OpenGL by sudo apt install libopengl0. Is it correct?
Thanks.
Best, Parabola
ScheiklP
commented
1 week ago If you are on a regular linux system such as Ubuntu, you should not need to install anything OpenGL-related manually. Only libglew-dev, as described in https://scheiklp.github.io/sofa_env/setting_up_sofa.html#install-build-dependencies.
Parabolakit
commented
1 week ago If you are on a regular linux system such as Ubuntu, you should not need to install anything OpenGL-related manually.
Only libglew-dev, as described in https://scheiklp.github.io/sofa_env/setting_up_sofa.html#install-build-dependencies.
Thanks for your prompt response. Could you help me check which version of SOFA you have installed? I installed 23.06.
Best, Parabola
ScheiklP
commented
1 week ago Hi @Parabolakit , The SOFA commit is e74b94848af09536873d1c7eb291a5e742fc6077 The SofaPython3 commit is 15bc9725e85b282ce97738266e9849ca1b9c1602
Cheers, Paul
Parabolakit
commented
6 days ago hi Paul,
It works, thanks.
ScheiklP
commented
6 days ago Perfect. :)
Dear @ScheiklP,
I am sticking on this issue for several weeks. It looks like there is a problem of rendering. I copied the errors as follows,
Moviepy - Done !
model.learn(
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/ppo/ppo.py", line 315, in learn
return super().learn(
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/on_policy_algorithm.py", line 277, in learn
continue_training = self.collect_rollouts(self.env, callback, self.rollout_buffer, n_rollout_steps=self.n_steps)
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/on_policy_algorithm.py", line 194, in collect_rollouts
new_obs, rewards, dones, infos = env.step(clipped_actions)
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/vec_env/base_vec_env.py", line 206, in step
return self.step_wait()
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/vec_env/vec_transpose.py", line 97, in step_wait
observations, rewards, dones, infos = self.venv.step_wait()
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/vec_env/vec_frame_stack.py", line 33, in step_wait
observations, rewards, dones, infos = self.venv.step_wait()
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/vec_env/vec_normalize.py", line 181, in step_wait
obs, rewards, dones, infos = self.venv.step_wait()
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/vec_env/vec_video_recorder.py", line 88, in step_wait
obs, rews, dones, infos = self.venv.step_wait()
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/vec_env/vec_monitor.py", line 76, in step_wait
obs, rewards, dones, infos = self.venv.step_wait()
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/stable_baselines3/common/vec_env/dummy_vec_env.py", line 58, in step_wait
obs, self.buf_rews[env_idx], terminated, truncated, self.buf_infos[env_idx] = self.envs[env_idx].step(
File "/home/chi/anaconda3/envs/sofa/lib/python3.9/site-packages/gymnasium/wrappers/time_limit.py", line 57, in step
observation, reward, terminated, truncated, info = self.env.step(action)
File "/home/chi/Documents/sofa_env/sofa_env/scenes/pick_and_place/pick_and_place_env.py", line 289, in step
maybe_rgb_observation = super().step(action)
File "/home/chi/Documents/sofa_env/sofa_env/base.py", line 172, in step
return self._maybe_update_rgb_buffer()
File "/home/chi/Documents/sofa_env/sofa_env/base.py", line 318, in _update_rgb_buffer
self._update_sofa_visuals()
File "/home/chi/Documents/sofa_env/sofa_env/base.py", line 400, in _update_sofa_visuals
self.opengl_gl.glViewport(0, 0, 64,64)
File "src/errorchecker.pyx", line 58, in OpenGL_accelerate.errorchecker._ErrorChecker.glCheckError
Moviepy - video ready /home/chi/Documents/sofa_zoo/sofa_zoo/envs/pick_and_place/runs/videos/rl-video-step-0-to-step-300.mp4 type of self._camera_object.widthViewport.value <class 'int'> [ERROR] [SofaRuntime] GLError: GLError( err = 1281, description = b'invalid value', baseOperation = glViewport, cArguments = (0, 0, 64, 64) ) Traceback (most recent call last): File "/home/chi/Documents/sofa_zoo/sofa_zoo/envs/pick_and_place/ppo.py", line 173, in
Did you come across this error? Thanks for your kind assistance.
Best, Parabola