robotsorcerer / gps Goto Github PK

when i run python python/gps/gps_main.py box2d_pointmass_pi2_example, the following error occurs.

('__file__:', 'python/gps/gps_main.py')
('add path:', 'python')
pygame 1.9.6
Hello from the pygame community. https://www.pygame.org/contribute.html
Initializing pygame framework...
DEBUG:tm._add: /joy, sensor_msgs/Joy, sub
DEBUG:tm._add: /camera/rgb/image_color, sensor_msgs/Image, sub
DEBUG:Unrecognized keyboard input: escape
DEBUG:Unrecognized keyboard input: escape
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/_minimize.py:298: RuntimeWarning: Method BFGS cannot handle constraints nor bounds.
  RuntimeWarning)
python/gps/algorithm/traj_opt/traj_opt_pi2.py:223: RuntimeWarning: overflow encountered in exp
  np.sum(np.exp(exponent / eta))))
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/optimize.py:597: RuntimeWarning: invalid value encountered in subtract
  grad[k] = (f(*((xk+d,)+args)) - f0) / d[k]
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/linesearch.py:414: RuntimeWarning: invalid value encountered in double_scalars
  radical = B*B-3*A*C
[[ nan  nan]
 [ nan  nan]]
Traceback (most recent call last):
  File "python/gps/gps_main.py", line 108, in run
    self._take_iteration(itr, traj_sample_lists)  # 迭代
  File "python/gps/gps_main.py", line 253, in _take_iteration
    self.algorithm.iteration(sample_lists)
  File "python/gps/algorithm/algorithm_traj_opt_pi2.py", line 33, in iteration
    self._update_trajectories()
  File "python/gps/algorithm/algorithm.py", line 128, in _update_trajectories
    self.traj_opt.update(cond, self)
  File "python/gps/algorithm/traj_opt/traj_opt_pi2.py", line 95, in update
    fixed_eta, use_fixed_eta
  File "python/gps/algorithm/traj_opt/traj_opt_pi2.py", line 177, in update_pi2
    mult = np.trace(np.dot(sp.linalg.inv(cov_old[t]),
  File "/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/linalg/basic.py", line 308, in inv
    a1 = np.asarray_chkfinite(a)
  File "/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/numpy/lib/function_base.py", line 1216, in asarray_chkfinite
    "array must not contain infs or NaNs")
ValueError: array must not contain infs or NaNs

According to the err info, when we run sp.linalg.inv() in traj_opt_pi2.py, the matrix cov_old[t] contains infs or NaNs. I don't find a suitable solution after google. Did you encounter this err? If you did, how to address this err? Thanks.

Hello, i'm a catkin+ros indigo user, and i'm glad to this repo.
But i met with some troubles about caffe, when execute cmake. command
is the installation step the same with the cbfinn's?
The cmake info is:
zlj@zlj:~/code/RL/gps/gps_agent_pkg$ cmake . -DUSE_CAFFE=1 -DUSE_CAFFE_GPU=1 -DCAFFE_INCLUDE_PATH=/home/zlj/code/caffe/distribute/include -DCAFFE_LIBRARY_PATH=/home/zlj/code/caffe/build/lib
-- Using CATKIN_DEVEL_PREFIX: /home/zlj/code/RL/gps/gps_agent_pkg/devel
-- Using CMAKE_PREFIX_PATH: /home/zlj/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/zlj/catkin_ws/devel;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/zlj/code/RL/gps/gps_agent_pkg/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.18
-- Using these message generators: gencpp;geneus;genlisp;genpy
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "Caffe" with any of
the following names:

CaffeConfig.cmake
caffe-config.cmake

Add the installation prefix of "Caffe" to CMAKE_PREFIX_PATH or set
"Caffe_DIR" to a directory containing one of the above files. If "Caffe"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:26 (find_package)

-- Could not find the required component 'Caffe'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "Caffe" with any of
the following names:

CaffeConfig.cmake
caffe-config.cmake

Add the installation prefix of "Caffe" to CMAKE_PREFIX_PATH or set
"Caffe_DIR" to a directory containing one of the above files. If "Caffe"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:26 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/zlj/code/RL/gps/gps_agent_pkg/CMakeFiles/CMakeOutput.log".
See also "/home/zlj/code/RL/gps/gps_agent_pkg/CMakeFiles/CMakeError.log".
zlj@zlj:~/code/RL/gps/gps_agent_pkg$ cmake .
-- Using CATKIN_DEVEL_PREFIX: /home/zlj/code/RL/gps/gps_agent_pkg/devel
-- Using CMAKE_PREFIX_PATH: /home/zlj/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/zlj/catkin_ws/devel;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/zlj/code/RL/gps/gps_agent_pkg/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.18
-- Using these message generators: gencpp;geneus;genlisp;genpy
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "Caffe" with any of
the following names:

CaffeConfig.cmake
caffe-config.cmake

Add the installation prefix of "Caffe" to CMAKE_PREFIX_PATH or set
"Caffe_DIR" to a directory containing one of the above files. If "Caffe"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:26 (find_package)

-- Could not find the required component 'Caffe'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "Caffe" with any of
the following names:

CaffeConfig.cmake
caffe-config.cmake

Add the installation prefix of "Caffe" to CMAKE_PREFIX_PATH or set
"Caffe_DIR" to a directory containing one of the above files. If "Caffe"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:26 (find_package)

looking forward to your reply

Hi Lakehanne,

Great work with adapting GPS for ROS indigo. I am currently trying to simulate the first example for ROS from gps documentation and am facing the following error

ImportError: No module named gps_agent_pkg.msg

Full traceback is below:

sarveshs@sarveshs-Lenovo-G570:~/catkin_ws/src/gps$ python python/gps/gps_main.py pr2_example
Traceback (most recent call last):
File "python/gps/gps_main.py", line 410, in
main()
File "python/gps/gps_main.py", line 344, in main
hyperparams = imp.load_source('hyperparams', hyperparams_file)
File "/home/sarveshs/catkin_ws/src/gps/experiments/pr2_example/hyperparams.py", line 10, in
from gps.agent.ros.agent_ros import AgentROS
File "python/gps/agent/ros/agent_ros.py", line 11, in
from gps.agent.ros.ros_utils import ServiceEmulator, msg_to_sample,
File "python/gps/agent/ros/ros_utils.py", line 20, in
from gps_agent_pkg.msg import ControllerParams, LinGaussParams, TfParams, CaffeParams, TfActionCommand

ImportError: No module named gps_agent_pkg.msg

Do you have any suggestions? Thanks!

Hi lakehanne:
It looks like the Pytorch can be used in your branch for the full guided policy search algorithm. So how to setup before using it? Thank you.