Closed hedaniel7 closed 5 months ago
adamhall
commented
6 months ago Hi Dan,
Thanks for your interest in the repo! To help us help you, can you paste the output you see along with your operating system, a list of your environment (using something like pip3 list or conda list), and the branch you are working on?
Best,
Adam
adamhall
commented
6 months ago You might also want to take a look at discussion #121, and modify it for the 3D quadrotor.
hedaniel7
commented
6 months ago Hi,
thank you for your reply. I am working on the main branch
This is the terminal output:
(safe) dan@SurfBoard3:~/Projects/safe-control-gym/examples$ python3 pid/pid_experiment.py --algo linear_mpc --task quadrotor --overrides ./pid/config_overrides/quadrotor_3D/quadrotor_3D_tracking.yaml
pybullet build time: Nov 28 2023 23:45:17
/home/dan/anaconda3/envs/safe/lib/python3.10/site-packages/gymnasium/spaces/box.py:130: UserWarning: WARN: Box bound precision lowered by casting to float32
gym.logger.warn(f"Box bound precision lowered by casting to {self.dtype}")
startThreads creating 1 threads.
starting thread 0
started thread 0
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=Intel
GL_RENDERER=Mesa Intel(R) Iris(R) Plus Graphics (ICL GT2)
GL_VERSION=4.6 (Core Profile) Mesa 21.2.6
GL_SHADING_LANGUAGE_VERSION=4.60
pthread_getconcurrency()=0
Version = 4.6 (Core Profile) Mesa 21.2.6
Vendor = Intel
Renderer = Mesa Intel(R) Iris(R) Plus Graphics (ICL GT2)
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0
MotionThreadFunc thread started
ven = Intel
Workaround for some crash in the Intel OpenGL driver on Linux/Ubuntu
CasADi - 2024-01-25 14:10:12 WARNING("The options 't0', 'tf', 'grid' and 'output_t0' have been deprecated.
The same functionality is provided by providing additional input arguments to the 'integrator' function, in particular:
* Call integrator(..., t0, tf, options) for a single output time, or
* Call integrator(..., t0, grid, options) for multiple grid points.
The legacy 'output_t0' option can be emulated by including or excluding 't0' in 'grid'.
Backwards compatibility is provided in this release only.") [.../casadi/core/integrator.cpp:515]
Traceback (most recent call last):
File "/home/dan/Projects/safe-control-gym/examples/pid/pid_experiment.py", line 132, in <module>
run()
File "/home/dan/Projects/safe-control-gym/examples/pid/pid_experiment.py", line 46, in run
ctrl = make(config.algo,
File "/home/dan/Projects/safe-control-gym/safe_control_gym/utils/registration.py", line 125, in make
return registry.make(idx, *args, **kwargs)
File "/home/dan/Projects/safe-control-gym/safe_control_gym/utils/registration.py", line 88, in make
obj = spec.make(*args, **kwargs)
File "/home/dan/Projects/safe-control-gym/safe_control_gym/utils/registration.py", line 69, in make
obj = cls(*args, **kwargs)
File "/home/dan/Projects/safe-control-gym/safe_control_gym/controllers/mpc/linear_mpc.py", line 60, in __init__
super().__init__(
File "/home/dan/Projects/safe-control-gym/safe_control_gym/controllers/mpc/mpc.py", line 69, in __init__
self.constraints, self.state_constraints_sym, self.input_constraints_sym = reset_constraints(self.env.constraints.constraints)
AttributeError: 'NoneType' object has no attribute 'constraints'
ven = Intel
Workaround for some crash in the Intel OpenGL driver on Linux/Ubuntu
numActiveThreads = 0
stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyedThis is my Conda environment:
(safe) dan@SurfBoard3:~/Projects/safe-control-gym/examples$ conda list
# packages in environment at /home/dan/anaconda3/envs/safe:
#
# Name Version Build Channel
_libgcc_mutex 0.1 main
_openmp_mutex 5.1 1_gnu
absl-py 2.1.0 pypi_0 pypi
bzip2 1.0.8 h7b6447c_0
ca-certificates 2023.08.22 h06a4308_0 anaconda
cachetools 5.3.2 pypi_0 pypi
casadi 3.6.4 pypi_0 pypi
certifi 2023.11.17 pypi_0 pypi
cfgv 3.4.0 pypi_0 pypi
charset-normalizer 3.3.2 pypi_0 pypi
clarabel 0.6.0 pypi_0 pypi
cloudpickle 3.0.0 pypi_0 pypi
contourpy 1.2.0 pypi_0 pypi
cvxpy 1.4.2 pypi_0 pypi
cycler 0.12.1 pypi_0 pypi
dict-deep 4.1.2 pypi_0 pypi
distlib 0.3.8 pypi_0 pypi
ecos 2.0.12 pypi_0 pypi
exceptiongroup 1.2.0 pypi_0 pypi
farama-notifications 0.0.4 pypi_0 pypi
filelock 3.13.1 pypi_0 pypi
fonttools 4.47.2 pypi_0 pypi
gmp 6.2.1 h295c915_3 anaconda
google-auth 2.26.2 pypi_0 pypi
google-auth-oauthlib 1.2.0 pypi_0 pypi
gpytorch 1.11 pypi_0 pypi
grpcio 1.60.0 pypi_0 pypi
gymnasium 0.28.1 pypi_0 pypi
identify 2.5.33 pypi_0 pypi
idna 3.6 pypi_0 pypi
imageio 2.33.1 pypi_0 pypi
iniconfig 2.0.0 pypi_0 pypi
jax-jumpy 1.0.0 pypi_0 pypi
jaxtyping 0.2.25 pypi_0 pypi
joblib 1.3.2 pypi_0 pypi
kiwisolver 1.4.5 pypi_0 pypi
ld_impl_linux-64 2.38 h1181459_1
libffi 3.4.4 h6a678d5_0
libgcc-ng 11.2.0 h1234567_1
libgomp 11.2.0 h1234567_1
libstdcxx-ng 11.2.0 h1234567_1
libuuid 1.41.5 h5eee18b_0
linear-operator 0.5.2 pypi_0 pypi
markdown 3.5.2 pypi_0 pypi
markupsafe 2.1.4 pypi_0 pypi
matplotlib 3.8.2 pypi_0 pypi
mosek 10.1.22 pypi_0 pypi
munch 2.5.0 pypi_0 pypi
ncurses 6.4 h6a678d5_0
nodeenv 1.8.0 pypi_0 pypi
numpy 1.26.3 pypi_0 pypi
nvidia-cublas-cu11 11.10.3.66 pypi_0 pypi
nvidia-cuda-nvrtc-cu11 11.7.99 pypi_0 pypi
nvidia-cuda-runtime-cu11 11.7.99 pypi_0 pypi
nvidia-cudnn-cu11 8.5.0.96 pypi_0 pypi
oauthlib 3.2.2 pypi_0 pypi
openssl 3.0.12 h7f8727e_0 anaconda
osqp 0.6.3 pypi_0 pypi
packaging 23.2 pypi_0 pypi
pillow 10.2.0 pypi_0 pypi
pip 23.3.2 pypi_0 pypi
platformdirs 4.1.0 pypi_0 pypi
pluggy 1.3.0 pypi_0 pypi
pre-commit 3.6.0 pypi_0 pypi
protobuf 4.23.4 pypi_0 pypi
pyaml 23.12.0 pypi_0 pypi
pyasn1 0.5.1 pypi_0 pypi
pyasn1-modules 0.3.0 pypi_0 pypi
pybind11 2.11.1 pypi_0 pypi
pybullet 3.2.6 pypi_0 pypi
pycddlib 2.1.7 pypi_0 pypi
pyparsing 3.1.1 pypi_0 pypi
pytest 7.4.4 pypi_0 pypi
python 3.10.13 h955ad1f_0
python-dateutil 2.8.2 pypi_0 pypi
pytope 0.0.4 pypi_0 pypi
pyyaml 6.0.1 pypi_0 pypi
qdldl 0.1.7.post0 pypi_0 pypi
readline 8.2 h5eee18b_0
requests 2.31.0 pypi_0 pypi
requests-oauthlib 1.3.1 pypi_0 pypi
rsa 4.9 pypi_0 pypi
safe-control-gym 2.0.0 pypi_0 pypi
scikit-learn 1.4.0 pypi_0 pypi
scikit-optimize 0.9.0 pypi_0 pypi
scipy 1.12.0 pypi_0 pypi
scs 3.2.4.post1 pypi_0 pypi
setuptools 68.2.2 py310h06a4308_0
six 1.16.0 pypi_0 pypi
sqlite 3.41.2 h5eee18b_0
tensorboard 2.15.1 pypi_0 pypi
tensorboard-data-server 0.7.2 pypi_0 pypi
termcolor 1.1.0 pypi_0 pypi
threadpoolctl 3.2.0 pypi_0 pypi
tk 8.6.12 h1ccaba5_0
tomli 2.0.1 pypi_0 pypi
torch 1.13.1 pypi_0 pypi
typeguard 2.13.3 pypi_0 pypi
typing-extensions 4.9.0 pypi_0 pypi
tzdata 2023d h04d1e81_0
urllib3 2.1.0 pypi_0 pypi
virtualenv 20.25.0 pypi_0 pypi
werkzeug 3.0.1 pypi_0 pypi
wheel 0.41.2 py310h06a4308_0
xz 5.4.5 h5eee18b_0
zlib 1.2.13 h5eee18b_0 I work on Ubuntu 20.04
uname -a Linux SurfBoard3 6.5.6-surface #3 SMP PREEMPT_DYNAMIC Sun Oct 15 20:52:00 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux
Federico-PizarroBejarano
commented
6 months ago @adamhall just added some great example code for MPC to the repo: https://github.com/utiasDSL/safe-control-gym/pull/148. Let us know if you can run the examples!
adamhall
commented
5 months ago Hi @hedaniel7, Did this work for you? We will close the issue if yes.
adamhall
commented
5 months ago Closed for inactivity.
In the
examplesfolder there are no suitable examples for running a MPC algorithm on a 3D drone.I tried to create my own following the tutorial as a copy of the PID and run
but it doesn't work. Could you please explain this more to me and in the tutorial?
Thank you very much
Daniel