search

pairlab / leibnizgym

IsaacGym environment for Trifinger robot
BSD 3-Clause "New" or "Revised" License
40 stars 11 forks source link

Error when running without Anaconda #1

Closed TrinhNC closed 2 years ago

TrinhNC commented 2 years ago

Thank you for the awesome work! I'm trying to run the training without Anaconda and got this error. Any idea why?

An error occurred during Hydra's exception formatting:
AssertionError()
Traceback (most recent call last):
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 252, in run_and_report
    assert mdl is not None
AssertionError

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "scripts/rlg_hydra.py", line 318, in <module>
    launch_rlg_hydra()
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/main.py", line 52, in decorated_main
    config_name=config_name,
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 378, in _run_hydra
    lambda: hydra.run(
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 294, in run_and_report
    raise ex
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 211, in run_and_report
    return func()
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 381, in <lambda>
    overrides=args.overrides,
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/hydra.py", line 111, in run
    _ = ret.return_value
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/core/utils.py", line 233, in return_value
    raise self._return_value
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/core/utils.py", line 160, in run_job
    ret.return_value = task_function(task_cfg)
  File "scripts/rlg_hydra.py", line 314, in launch_rlg_hydra
    run_rlg_hydra(cfg)
  File "/home/isaac/Downloads/IsaacGym_Preview_2_Package/leibnizgym/leibnizgym/utils/rlg_train.py", line 216, in run_rlg_hydra
    run_rlg()
  File "/home/isaac/Downloads/IsaacGym_Preview_2_Package/leibnizgym/leibnizgym/utils/rlg_train.py", line 252, in run_rlg
    runner.run(vargs)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 139, in run
    self.run_train()
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 122, in run_train
    agent = self.algo_factory.create(self.algo_name, base_name='run', config=self.config)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/common/object_factory.py", line 15, in create
    return builder(**kwargs)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 23, in <lambda>
    self.algo_factory.register_builder('a2c_continuous', lambda **kwargs : a2c_continuous.A2CAgent(**kwargs))
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/algos_torch/a2c_continuous.py", line 19, in __init__
    a2c_common.ContinuousA2CBase.__init__(self, base_name, config)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/common/a2c_common.py", line 1015, in __init__
    A2CBase.__init__(self, base_name, config)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/common/a2c_common.py", line 135, in __init__
    self.kl_threshold = config['kl_threshold']
KeyError: 'kl_threshold'
Traceback (most recent call last):
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 252, in run_and_report
    assert mdl is not None
AssertionError

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "scripts/rlg_hydra.py", line 318, in <module>
    launch_rlg_hydra()
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/main.py", line 52, in decorated_main
    config_name=config_name,
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 378, in _run_hydra
    lambda: hydra.run(
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 294, in run_and_report
    raise ex
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 211, in run_and_report
    return func()
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 381, in <lambda>
    overrides=args.overrides,
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/hydra.py", line 111, in run
    _ = ret.return_value
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/core/utils.py", line 233, in return_value
    raise self._return_value
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/core/utils.py", line 160, in run_job
    ret.return_value = task_function(task_cfg)
  File "scripts/rlg_hydra.py", line 314, in launch_rlg_hydra
    run_rlg_hydra(cfg)
  File "/home/isaac/Downloads/IsaacGym_Preview_2_Package/leibnizgym/leibnizgym/utils/rlg_train.py", line 216, in run_rlg_hydra
    run_rlg()
  File "/home/isaac/Downloads/IsaacGym_Preview_2_Package/leibnizgym/leibnizgym/utils/rlg_train.py", line 252, in run_rlg
    runner.run(vargs)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 139, in run
    self.run_train()
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 122, in run_train
    agent = self.algo_factory.create(self.algo_name, base_name='run', config=self.config)  
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/common/object_factory.py", line 15, in create
    return builder(**kwargs)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 23, in <lambda>
    self.algo_factory.register_builder('a2c_continuous', lambda **kwargs : a2c_continuous.A2CAgent(**kwargs))
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/algos_torch/a2c_continuous.py", line 19, in __init__
    a2c_common.ContinuousA2CBase.__init__(self, base_name, config)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/common/a2c_common.py", line 1015, in __init__
    A2CBase.__init__(self, base_name, config)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/common/a2c_common.py", line 135, in __init__
    self.kl_threshold = config['kl_threshold']
KeyError: 'kl_threshold'
TrinhNC commented 2 years ago

I found the solution here: https://forums.developer.nvidia.com/t/error-running-rlg-train-py/190248 . But now I got the new error:

Traceback (most recent call last):
  File "scripts/rlg_hydra.py", line 318, in <module>
    launch_rlg_hydra()
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/main.py", line 52, in decorated_main
    config_name=config_name,
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 378, in _run_hydra
    lambda: hydra.run(
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 294, in run_and_report
    raise ex
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 211, in run_and_report
    return func()
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 381, in <lambda>
    overrides=args.overrides,
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/hydra.py", line 111, in run
    _ = ret.return_value
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/core/utils.py", line 233, in return_value
    raise self._return_value
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/core/utils.py", line 160, in run_job
    ret.return_value = task_function(task_cfg)
  File "scripts/rlg_hydra.py", line 314, in launch_rlg_hydra
    run_rlg_hydra(cfg)
  File "/home/isaac/Downloads/IsaacGym_Preview_2_Package/leibnizgym/leibnizgym/utils/rlg_train.py", line 216, in run_rlg_hydra
    run_rlg()
  File "/home/isaac/Downloads/IsaacGym_Preview_2_Package/leibnizgym/leibnizgym/utils/rlg_train.py", line 252, in run_rlg
    runner.run(vargs)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 141, in run
    self.run_train()
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 123, in run_train
    agent = self.algo_factory.create(self.algo_name, base_name='run', config=self.config)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/common/object_factory.py", line 15, in create
    return builder(**kwargs)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/torch_runner.py", line 23, in <lambda>
    self.algo_factory.register_builder('a2c_continuous', lambda **kwargs : a2c_continuous.A2CAgent(**kwargs))
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/algos_torch/a2c_continuous.py", line 60, in __init__
    self.central_value_net = central_value.CentralValueTrain(**cv_config).to(self.ppo_device)
  File "/home/isaac/.local/lib/python3.6/site-packages/rl_games/algos_torch/central_value.py", line 31, in __init__
    self.lr = float(config['learning_rate'])
KeyError: 'learning_rate'
Traceback (most recent call last):
  File "/home/isaac/.local/lib/python3.6/site-packages/hydra/_internal/utils.py", line 252, in run_and_report
    assert mdl is not None
AssertionError

Somehow the config is not loaded correctly.

TrinhNC commented 2 years ago

Found the problem! Line 74 in file asymm.yaml should be changed to learning_rate: 5e-4 instead.