Unknown error running SOFAgym TrunkEnv

[tdillonmit]

Hi

I'm trying to compile the example TrunkEnv, using a simple python function:

import gym
import sofagym.envs
import time

import sofagym

env = gym.make('trunk-v0')
observation, info = env.reset()

done = False
while not done:
    action = env.action_space.sample()  # this is where you would insert your policy
    observation, reward, done, info = env.step(action)
    env.render()

    done = terminated or truncated

env.close()

The terminal output errors are below. The line "observation, info = env.reset()" seems to be causing this. I'm using the SOFA binaries on Windows 10 with Python 3.7.

[INFO]    [PluginManager] Loaded plugin: C:/Users/Tom/Documents/sofa_build/sofa_build/bin/Sofa.GL.Component.Shader.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Tom/Documents/sofa_build/sofa_build/bin/Sofa.Component.LinearSolver.Preconditioner.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Tom/Documents/sofa_build/sofa_build/bin/SofaComponentAll.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Tom/Documents/sofa_build/sofa_build/bin/STLIB.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Tom/Documents/sofa_build/sofa_build/bin/SoftRobots.dll

########## SIG 11 - SIGSEGV: segfault ##########
  sofa::helper::BackTrace::dump
  sofa::helper::BackTrace::sig
  seh_filter_exe
  seh_filter_exe
  _C_specific_handler
  _chkstk
  RtlRaiseException
  KiUserExceptionDispatcher
  PyObject_GetAttrString
  sofapython3::PythonEnvironment::getStaticData
  initExternalModule
  sofapython3::PythonEnvironment::getPythonCallingPointAsFileInfo
  sofapython3::PythonEnvironment::getPythonCallingPointAsFileInfo
  sofapython3::PythonEnvironment::getPythonCallingPointAsFileInfo
  sofapython3::PythonEnvironment::getPythonCallingPointAsFileInfo
  PyMethodDef_RawFastCallKeywords
  PyCFunction_FastCallKeywords
  PyMethodDef_RawFastCallKeywords
  PyEval_EvalFrameDefault
  PyEval_EvalCodeWithName
  PyMethodDef_RawFastCallKeywords
  PyEval_EvalFrameDefault
  PyEval_EvalCodeWithName
  PyMethodDef_RawFastCallKeywords
  PyEval_EvalFrameDefault
  PyEval_EvalCodeWithName
  PyEval_EvalCodeEx
  PyEval_EvalCode
  PyArena_Free
  PyRun_FileExFlags
  PyRun_SimpleFileExFlags
  PyRun_AnyFileExFlags
  Py_UnixMain
  Py_UnixMain
  PyErr_NoMemory
  Py_Main
  Py_Main
  Py_Main
  BaseThreadInitThunk
  RtlUserThreadStart
Exception in thread Thread-2:
Traceback (most recent call last):
  File "C:\Program Files\Python37\lib\threading.py", line 926, in _bootstrap_inner
    self.run()
  File "C:\Program Files\Python37\lib\threading.py", line 870, in run
    self._target(*self._args, **self._kwargs)
  File "c:\users\tom\documents\sofagym-main\sofagym\rpc_server.py", line 528, in deferredStart
    check=True)
  File "C:\Program Files\Python37\lib\subprocess.py", line 512, in run
    output=stdout, stderr=stderr)
subprocess.CalledProcessError: Command '['C:\\Program Files\\Python37\\python.exe', 'c:\\users\\tom\\documents\\sofagym-main/sofagym/rpc_client.py', "{'scene': 'Trunk', 'deterministic': True, 'source': [300, 0, 80], 'target': [0, 0, 80], 'goalList': [[40, 40, 100], [-10, 20, 80]], 'start_node': None, 'scale_factor': 5, 'timer_limit': 250, 'timeout': 50, 'display_size': (1600, 800), 'render': 1, 'save_data': False, 'save_image': False, 'save_path': 'c:\\\\users\\\\tom\\\\documents\\\\sofagym-main\\\\sofagym\\\\envs\\\\Trunk/Results/Trunk', 'planning': False, 'discrete': True, 'seed': None, 'start_from_history': None, 'python_version': 'python3', 'dt': 0.01, 'save_path_image': None, 'save_path_results': None, 'goal_node': 1, 'goalPos': [-10, 20, 80]}", '16', '62505']' returned non-zero exit status 3.

[EtienneMenager]

Hi,

It seems that you are using both gym and gymnasium syntax. Can you try to change the allocation of the reset and done by doing "observation = env.reset()" and removing "done = terminated or truncate". Let me know.

Etienne

[tdillonmit]

Hi Etienne, I changed those two lines as you suggested, and I'm still getting a similar output as below. Any further suggestions you have would be greatly appreciated. Also should I be using "import gym", "import gymnasium" or "import gynasium as gym". In the below I am using import gym. Thanks Tom

[INFO]    [PluginManager] Loaded plugin: C:/Users/Tom/Documents/sofa_build/sofa_build/bin/SofaComponentAll.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Tom/Documents/sofa_build/sofa_build/bin/STLIB.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Tom/Documents/sofa_build/sofa_build/bin/SoftRobots.dll

########## SIG 11 - SIGSEGV: segfault ##########
  sofa::helper::BackTrace::dump
  sofa::helper::BackTrace::sig
  seh_filter_exe
  seh_filter_exe
  _C_specific_handler
  _chkstk
  RtlRaiseException
  KiUserExceptionDispatcher
  PyObject_GetAttrString
  sofapython3::PythonEnvironment::getStaticData
  initExternalModule
  sofapython3::PythonEnvironment::getPythonCallingPointAsFileInfo
  sofapython3::PythonEnvironment::getPythonCallingPointAsFileInfo
  sofapython3::PythonEnvironment::getPythonCallingPointAsFileInfo
  sofapython3::PythonEnvironment::getPythonCallingPointAsFileInfo
  PyMethodDef_RawFastCallKeywords
  PyCFunction_FastCallKeywords
  PyMethodDef_RawFastCallKeywords
  PyEval_EvalFrameDefault
  PyEval_EvalCodeWithName
  PyMethodDef_RawFastCallKeywords
  PyEval_EvalFrameDefault
  PyEval_EvalCodeWithName
  PyMethodDef_RawFastCallKeywords
  PyEval_EvalFrameDefault
  PyEval_EvalCodeWithName
  PyEval_EvalCodeEx
  PyEval_EvalCode
  PyArena_Free
  PyRun_FileExFlags
  PyRun_SimpleFileExFlags
  PyRun_AnyFileExFlags
  Py_UnixMain
  Py_UnixMain
  PyErr_NoMemory
  Py_Main
  Py_Main
  Py_Main
  BaseThreadInitThunk
  RtlUserThreadStart
Exception in thread Thread-2:
Traceback (most recent call last):
  File "C:\Program Files\Python37\lib\threading.py", line 926, in _bootstrap_inner
    self.run()
  File "C:\Program Files\Python37\lib\threading.py", line 870, in run
    self._target(*self._args, **self._kwargs)
  File "c:\users\tom\documents\sofagym-main\sofagym\rpc_server.py", line 528, in deferredStart
    check=True)
  File "C:\Program Files\Python37\lib\subprocess.py", line 512, in run
    output=stdout, stderr=stderr)
subprocess.CalledProcessError: Command '['C:\\Program Files\\Python37\\python.exe', 'c:\\users\\tom\\documents\\sofagym-main/sofagym/rpc_client.py', "{'scene': 'Trunk', 'deterministic': True, 'source': [300, 0, 80], 'target': [0, 0, 80], 'goalList': [[40, 40, 100], [-10, 20, 80]], 'start_node': None, 'scale_factor': 5, 'timer_limit': 250, 'timeout': 50, 'display_size': (1600, 800), 'render': 1, 'save_data': False, 'save_image': False, 'save_path': 'c:\\\\users\\\\tom\\\\documents\\\\sofagym-main\\\\sofagym\\\\envs\\\\Trunk/Results/Trunk', 'planning': False, 'discrete': True, 'seed': None, 'start_from_history': None, 'python_version': 'python3', 'dt': 0.01, 'save_path_image': None, 'save_path_results': None, 'goal_node': 1, 'goalPos': [-10, 20, 80]}", '16', '52844']' returned non-zero exit status 3.

[EtienneMenager]

Hi,

We fix some error in the last pr. Can you try it?

Cheers,

Etienne

[tdillonmit]

Hi, I tried reinstalling but still get the same error. Any other potential reasons for this issue?

[alxbilger]

Please make sure you are able to run the SOFA scene https://github.com/SofaDefrost/SofaGym/blob/main/sofagym/envs/Trunk/TrunkScene.py

[tdillonmit]

Hi @alxbilger yes the TrunkScene and TrunkEnv run fine

[EtienneMenager]

Hi, the error is not expressive and we can't reproduce it on our computer. Could you remove the try at the time of the creation of the scene to check if the problem does not come from here (file simulate.py). Also can you tell me at which precise moment of your test code there is the problem (render, step, reset, ...).

Cheers,

Etienne

[tdillonmit]

Hi Etienne, the problem is coming when I run "observation = env.reset()". The creation of the scene "env = gym.make('trunk-v0')" runs fine. Let me know if theres some other way of providing additional information on the error Thanks for your help so far Tom

[EtienneMenager]

Sorry I can't give you an answer directly, as we can't reproduce the error we are doing by trial and error. Can you tell me which line of the reset produces the error? To do this, you can put prints in the AbstractEnv or use a debugger. The ideal would be to have a log a little more precise than the one you sent in your first message (which just tells me that a client is down). Let me know !

Etienne

[tdillonmit]

I'm having trouble identifying the line in reset of abstractenv that produces the error. I put prints in the "initialization" and "reset" functions of abstractenv which seem to be ok and are present midway through the log below.

full log.txt

I can also look into TrunkEnv to see if placing print statements there makes the problem clear

[EtienneMenager]

Right, seems that everything is good during the make env. But I don’t see the message during the second initialisation … Can you check your test with another scene please.

Etienne

[tdillonmit]

Hi Etienne, I tried with the cartstem scene and env instead. The error seems to be slightly more informative than last time, but its still complaining about subprocess.py. See the new log attached

new log.txt

Does my gym environment registration seem ok? Thanks

[samuelmyoussef]

Could you please try to run some of the scenes like trunk and cartstem using runSofa not python. For example: runSofa TrunkScene.py

[EtienneMenager]

Hi Tom,

Yes, Samuel is right. In the new_log.txt we can see this error:

Traceback (most recent call last): File "c:\users\tom\documents\sofagym-main/sofagym/rpc_client.py", line 174, in root = init_simulation(config, _startCmd, mode='simu') File "c:\users\tom\documents\sofagym-main\sofagym\simulate.py", line 44, in init_simulation raise NotImplementedError("Importing your SOFA Scene Failed")

There is a problem in the construction of the scene. Perhaps this error is cause by the scene (and so you can see it with runSofa) or with some parameters you use during the simulation. Try to replace in simulate.py the lines (l.40-44)

try: create_scene = importlib.import_module("sofagym.envs."+scene+"." + scene + "Scene").createScene except: print("sofagym.envs."+scene+"." + scene + "Scene") raise NotImplementedError("Importing your SOFA Scene Failed")

with just

create_scene = importlib.import_module("sofagym.envs."+scene+"." + scene + "Scene").createScene

to see what is the problem with this import.

Let me know

Etienne

[tdillonmit]

Thanks both for your continued help. Please find attached the updated log when I use runSofa TrunkScene.py instead of python. It looks like its missing the "linear solver" component. updated_log.txt

Are there additional plugins I need to download? I cloned sofagym and downloaded the following binaries: https://github.com/SofaDefrost/DefrostSofaBundle

[alxbilger]

DefrostSofaBundle is outdated. Is is based on Sofa v22.06. You should use the latest binaries of Sofa. If you cloned SofaGym, you should use the master branch of Sofa, otherwise try to clone the v22.12 branch.

[tdillonmit]

Thanks @alxbilger I installed the latest binaries and cloned SofaGym to the sofa root directory. When I run I'm now getting a new error:

C:\Users\Tom\SOFA\v22.12.00>python dummy_test.py
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: C:/Users/Tom/Documents/sofa_build/sofa_build
Using environment variable SOFAPYTHON3_ROOT: C:/Users/Tom/Documents/sofa_build/sofa_build/plugins/SofaPython3
---------------------------------------
Traceback (most recent call last):
  File "dummy_test.py", line 3, in <module>
    import sofagym.envs
  File "c:\users\tom\sofa\v22.12.00\sofagym\sofagym\envs\__init__.py", line 1, in <module>
    from sofagym.envs.BubbleMotion.BubbleMotionEnv import *
  File "c:\users\tom\sofa\v22.12.00\sofagym\sofagym\envs\BubbleMotion\BubbleMotionEnv.py", line 11, in <module>
    from sofagym.AbstractEnv import AbstractEnv
  File "c:\users\tom\sofa\v22.12.00\sofagym\sofagym\AbstractEnv.py", line 18, in <module>
    import splib3
  File "C:\Users\Tom\SOFA\v22.12.00\plugins\STLIB\lib\python3\site-packages\splib3\__init__.py", line 19, in <module>
    import splib3.utils
  File "C:\Users\Tom\SOFA\v22.12.00\plugins\STLIB\lib\python3\site-packages\splib3\utils.py", line 12, in <module>
    import Sofa
  File "C:\Users\Tom\SOFA\v22.12.00\plugins\SofaPython3\lib\python3\site-packages\Sofa\__init__.py", line 107, in <module>
    import Sofa.Helper
ModuleNotFoundError: No module named 'Sofa.Helper'

C:\Users\Tom\SOFA\v22.12.00>echo %PYTHONPATH%
plugins\SofaPython3\lib\python3\site-packages;plugins\STLIB\lib\python3\site-packages

This forum has a similar problem, but I'm not sure how to resolve the issue: https://www.sofa-framework.org/community/forum/topic/modulenotfounderror-sofa-helper-with-binary-install-v21-06-02/

[EtienneMenager]

Do you set your pythonpath to the sofapython3 plugin ?

[tdillonmit]

Yes, and I'm still getting the same error (whether I use a relative or absolute path for the Sofapython3 library)

C:\Users\Tom\SOFA\v22.12.00>echo %PYTHONPATH%
plugins/SofaPython3;plugins/SofaPython3/lib/python3/site-packages;plugins/STLIB/lib/python3/site-packages

C:\Users\Tom\SOFA\v22.12.00>echo %SOFAPYTHON3_ROOT%
C:/Users/Tom/Documents/sofa_build/sofa_build/plugins/SofaPython3

C:\Users\Tom\SOFA\v22.12.00>echo %SOFA_ROOT%
C:/Users/Tom/Documents/sofa_build/sofa_build