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med-air / SurRoL

[IROS'21] SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning
https://med-air.github.io/SurRoL/
MIT License
126 stars 22 forks source link

error: Cannot load URDF file. #7

Closed JauJieYou closed 1 year ago

JauJieYou commented 1 year ago

Dear Sir I had tried the test_psm, but it showed "error: Cannot load URDF file." in 3rd cell. 螢幕快照 2023-06-27 22:21:24 I think there is lack of urdf_file. What could I solved this problem. Would you kindly show it? Thanks a lot

wwdda commented 1 year ago

Hi JauJie,

Thanks for your trial. As for the issue you encountered, after looking into your screenshot and trying on a new environment, I think the cause is that your arm.py file was moved to SurRoL/tests/ folder by mistake which should be in the SurRoL/surrol/robots/ as that in SurRoL repo. The possible solution is to move back the arm.py to SurRoL/surrol/robots/, but given that I have no idea if there's any other similar changes on your side, I think you could also re-install SurRoL following the readme if moving back doesn't work.

Notice that the installation section in readme should be as below(the url and directory in readme is outdated):

git clone https://github.com/med-air/SurRoL.git
cd SurRoL
pip install -e .

Should you come across any further problem, please feel free to contact us.

Wang

JauJieYou commented 1 year ago

Dear Wang Thanks a lot. I think it was Jupyter notebook problem. When I transfer it to .py file, it works OK, and the .py in the /tasks folder work OK. But I suffer another problem. The run/.sh files did not run. I had install openAI baselines, and pass the pytest. I had also installed mpi4py, and down the tensorflow to 1.14.

There are 2 errors about:

File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/site-packages/gym/envs/registration.py", line 132, in spec return self.env_specs[id] KeyError: 'ActiveTrack-v0'

There is 1 error about:

gym.error.UnregisteredEnv: No registered env with id: ActiveTrack-v0

And I had down version of tensorflow, it should not showed something as

The name tf.ConfigProto is deprecated. Please use tf.compat.v1.ConfigProto instead. The name tf.get_default_session is deprecated. Please use tf.compat.v1.get_default_session instead. The name tf.InteractiveSession is deprecated. Please use tf.compat.v1.InteractiveSession instead.

Why It showed no registered? Did I do anything wrong? If those files only run under GPU installed? I will be appreciated if you could point out the problem and suggest the solution. Thank you very much.

(surrol) cmuh@cmuh-ASUS-EXPERTCENTER-D700TA-M700TA:~/SurRoL/run$ ./ddpg_activetrack.sh /home/cmuh/anaconda3/envs/surrol/lib/python3.7/site-packages/tensorflow/python/framework/dtypes.py:516: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'. _np_qint8 = np.dtype([("qint8", np.int8, 1)]) ... /home/cmuh/anaconda3/envs/surrol/lib/python3.7/site-packages/tensorboard/compat/tensorflow_stub/dtypes.py:550: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'. np_resource = np.dtype([("resource", np.ubyte, 1)]) Logging to ../logs/ddpg/ActiveTrack-1e5_0 env_type: custom_type WARNING:tensorflow:From /home/cmuh/baselines/baselines/run.py:109: The name tf.ConfigProto is deprecated. Please use tf.compat.v1.ConfigProto instead.

WARNING:tensorflow:From /home/cmuh/baselines/baselines/common/tf_util.py:53: The name tf.get_default_session is deprecated. Please use tf.compat.v1.get_default_session instead.

WARNING:tensorflow:From /home/cmuh/baselines/baselines/common/tf_util.py:70: The name tf.InteractiveSession is deprecated. Please use tf.compat.v1.InteractiveSession instead.

2023-07-05 10:05:00.734506: I tensorflow/core/platform/cpu_feature_guard.cc:142] Your CPU supports instructions that this TensorFlow binary was not compiled to use: AVX2 FMA 2023-07-05 10:05:00.756562: I tensorflow/core/platform/profile_utils/cpu_utils.cc:94] CPU Frequency: 3600000000 Hz 2023-07-05 10:05:00.757047: I tensorflow/compiler/xla/service/service.cc:168] XLA service 0x490aad0 executing computations on platform Host. Devices: 2023-07-05 10:05:00.757087: I tensorflow/compiler/xla/service/service.cc:175] StreamExecutor device (0): , WARNING:tensorflow:From /home/cmuh/baselines/baselines/common/misc_util.py:58: The name tf.set_random_seed is deprecated. Please use tf.compat.v1.set_random_seed instead.

... Process SpawnProcess-1: Traceback (most recent call last): File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/site-packages/gym/envs/registration.py", line 132, in spec return self.env_specs[id] KeyError: 'ActiveTrack-v0'

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap self.run() ... File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/site-packages/gym/envs/registration.py", line 142, in spec raise error.UnregisteredEnv('No registered env with id: {}'.format(id)) gym.error.UnregisteredEnv: No registered env with id: ActiveTrack-v0 Process SpawnProcess-2: Traceback (most recent call last): File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/site-packages/gym/envs/registration.py", line 132, in spec return self.env_specs[id] KeyError: 'ActiveTrack-v0'

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap self.run() ... File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/site-packages/gym/envs/registration.py", line 142, in spec raise error.UnregisteredEnv('No registered env with id: {}'.format(id)) gym.error.UnregisteredEnv: No registered env with id: ActiveTrack-v0 Traceback (most recent call last): File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/runpy.py", line 193, in _run_module_as_main "main", mod_spec) ... File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/multiprocessing/connection.py", line 379, in _recv chunk = read(handle, remaining) ConnectionResetError: [Errno 104] Connection reset by peer Exception ignored in: <function SubprocVecEnv.del at 0x7fe696000d40> Traceback (most recent call last): ... File "/home/cmuh/anaconda3/envs/surrol/lib/python3.7/multiprocessing/connection.py", line 368, in _send n = write(self._handle, buf) BrokenPipeError: [Errno 32] Broken pipe

wwdda commented 8 months ago

Hi @JauJieYou, sorry for the late response. For the registering problem, you could refer to DEX repo and follow its guide on registering SurRoL tasks and evaluating saved models.