vincentyu68 / symmetrycurriculumlocomotion Goto Github PK

sorry to bother you, I meet a problem "No module named baselines.ppo1" what does this mean?

Hello,
First of all, I appreciate your efforts to maintain this awesome library.
Based on your instruction in readme, I was able to run and test run_walker3d_staged_learning.

Now I also want to run run_humanoid_staged_learning, but I am getting the below error.

ODE INTERNAL ERROR 1: assertion "d[i] != dReal(0.0)" failed in _dLDLTRemove() [/Users/junhyeokahn/Repository/dart/dart/external/odelcpsolver/matrix.cpp:404]
[Junhyeoks-MacBook-Pro:23882] *** Process received signal ***
[Junhyeoks-MacBook-Pro:23882] Signal: Abort trap: 6 (6)
[Junhyeoks-MacBook-Pro:23882] Signal code:  (0)
[Junhyeoks-MacBook-Pro:23882] [ 0] 2   libsystem_platform.dylib            0x00007fff6d48af5a _sigtramp + 26
[Junhyeoks-MacBook-Pro:23882] [ 1] 3   libsystem_c.dylib                   0x00007fff6d20e6b4 __swrite + 0
[Junhyeoks-MacBook-Pro:23882] [ 2] 4   libsystem_c.dylib                   0x00007fff6d2281ae abort + 127
[Junhyeoks-MacBook-Pro:23882] [ 3] 5   libdart-external-odelcpsolver.6.5.dylib 0x000000012df81749 dDebug + 153
[Junhyeoks-MacBook-Pro:23882] [ 4] 6   libdart-external-odelcpsolver.6.5.dylib 0x000000012df8a74f _dLDLTRemove + 463
[Junhyeoks-MacBook-Pro:23882] [ 5] 7   libdart-external-odelcpsolver.6.5.dylib 0x000000012df847f4 _ZN4dLCP22transfer_i_from_C_to_NEiPv + 276
[Junhyeoks-MacBook-Pro:23882] [ 6] 8   libdart-external-odelcpsolver.6.5.dylib 0x000000012df868f2 _Z9dSolveLCPiPdS_S_S_iS_S_Pi + 4818
[Junhyeoks-MacBook-Pro:23882] [ 7] 9   libdart.6.5.dylib                   0x000000012c6c2fa3 _ZN4dart10constraint16DantzigLCPSolver5solveEPNS0_16ConstrainedGroupE + 1331
[Junhyeoks-MacBook-Pro:23882] [ 8] 10  libdart.6.5.dylib                   0x000000012c6bafbf _ZN4dart10constraint16ConstraintSolver5solveEv + 159
[Junhyeoks-MacBook-Pro:23882] [ 9] 11  libdart.6.5.dylib                   0x000000012c6d35fa _ZN4dart10simulation5World4stepEb + 90
[Junhyeoks-MacBook-Pro:23882] [10] 12  _pydart2_api.cpython-36m-darwin.so  0x000000012c292434 _Z11world__stepi + 36
[Junhyeoks-MacBook-Pro:23882] [11] 13  _pydart2_api.cpython-36m-darwin.so  0x000000012c2a2af8 _ZL17_wrap_world__stepP7_objectS0_ + 72
[Junhyeoks-MacBook-Pro:23882] [12] 14  libpython3.6m.dylib                 0x0000000107945a1b _PyCFunction_FastCallDict + 491
[Junhyeoks-MacBook-Pro:23882] [13] 15  libpython3.6m.dylib                 0x00000001079c96c7 call_function + 439
[Junhyeoks-MacBook-Pro:23882] [14] 16  libpython3.6m.dylib                 0x00000001079c6038 _PyEval_EvalFrameDefault + 25080
[Junhyeoks-MacBook-Pro:23882] [15] 17  libpython3.6m.dylib                 0x00000001079cade8 fast_function + 488
[Junhyeoks-MacBook-Pro:23882] [16] 18  libpython3.6m.dylib                 0x00000001079c96a1 call_function + 401
[Junhyeoks-MacBook-Pro:23882] [17] 19  libpython3.6m.dylib                 0x00000001079c6038 _PyEval_EvalFrameDefault + 25080
[Junhyeoks-MacBook-Pro:23882] [18] 20  libpython3.6m.dylib                 0x00000001079cade8 fast_function + 488
[Junhyeoks-MacBook-Pro:23882] [19] 21  libpython3.6m.dylib                 0x00000001079c96a1 call_function + 401
[Junhyeoks-MacBook-Pro:23882] [20] 22  libpython3.6m.dylib                 0x00000001079c6038 _PyEval_EvalFrameDefault + 25080
[Junhyeoks-MacBook-Pro:23882] [21] 23  libpython3.6m.dylib                 0x00000001079cade8 fast_function + 488
[Junhyeoks-MacBook-Pro:23882] [22] 24  libpython3.6m.dylib                 0x00000001079c96a1 call_function + 401
[Junhyeoks-MacBook-Pro:23882] [23] 25  libpython3.6m.dylib                 0x00000001079c6038 _PyEval_EvalFrameDefault + 25080
[Junhyeoks-MacBook-Pro:23882] [24] 26  libpython3.6m.dylib                 0x00000001079cade8 fast_function + 488
[Junhyeoks-MacBook-Pro:23882] [25] 27  libpython3.6m.dylib                 0x00000001079c96a1 call_function + 401
[Junhyeoks-MacBook-Pro:23882] [26] 28  libpython3.6m.dylib                 0x00000001079c6038 _PyEval_EvalFrameDefault + 25080
[Junhyeoks-MacBook-Pro:23882] [27] 29  libpython3.6m.dylib                 0x00000001079cade8 fast_function + 488
[Junhyeoks-MacBook-Pro:23882] [28] 30  libpython3.6m.dylib                 0x00000001079c96a1 call_function + 401
[Junhyeoks-MacBook-Pro:23882] [29] 31  libpython3.6m.dylib                 0x00000001079c6038 _PyEval_EvalFrameDefault + 25080
[Junhyeoks-MacBook-Pro:23882] *** End of error message ***

It seems to be related to dart.
Do you have any ideas on this?

Thanks

sorry to bother you again, when I build everything up and run this command:
mpirun -np 8 python -m baselines.ppo1.run_walker3d_staged_learning
I got some error message like this:
/////////////////////////////////////////////////////////////////////////////////////////////////////////
Traceback (most recent call last):
File "/home/o2/Downloads/yes/envs/py3.6/lib/python3.6/runpy.py", line 193, in _run_module_as_main
"main", mod_spec)
File "/home/o2/Downloads/yes/envs/py3.6/lib/python3.6/runpy.py", line 85, in _run_code
exec(code, run_globals)
File "/home/o2/Desktop/RL/biped/SymmetryCurriculumLocomotion/baselines/baselines/ppo1/run_walker3d_staged_learning.py", line 138, in
main()
File "/home/o2/Desktop/RL/biped/SymmetryCurriculumLocomotion/baselines/baselines/ppo1/run_walker3d_staged_learning.py", line 134, in main
train_mirror(args.env, num_timesteps=int(5000 * 4 * 800), seed=args.seed)
File "/home/o2/Desktop/RL/biped/SymmetryCurriculumLocomotion/baselines/baselines/ppo1/run_walker3d_staged_learning.py", line 73, in train_mirror
rollout_length_threshold = env.env.env.assist_schedule[2][0]/env.env.env.dt
AttributeError: 'DartWalker3dEnv' object has no attribute 'assist_schedule'
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

and if I run the other command such as :
mpirun -np 8 python -m baselines.ppo1.run_hexapod_staged_learning
there is something like this
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
line 126, in
main()
File "/home/o2/Desktop/RL/biped/SymmetryCurriculumLocomotion/baselines/baselines/ppo1/run_hexapod_staged_learning.py", line 122, in main
train_mirror(args.env, num_timesteps=int(50004800), seed=args.seed)
File "/home/o2/Desktop/RL/biped/SymmetryCurriculumLocomotion/baselines/baselines/ppo1/run_hexapod_staged_learning.py", line 36, in train_mirror
env = gym.make(env_id)
File "/home/o2/dartForPy3/dart/build/dart-env/gym/envs/registration.py", line 167, in make
return registry.make(id)
File "/home/o2/dartForPy3/dart/build/dart-env/gym/envs/registration.py", line 118, in make
spec = self.spec(id)
File "/home/o2/dartForPy3/dart/build/dart-env/gym/envs/registration.py", line 153, in spec
raise error.UnregisteredEnv('No registered env with id: {}'.format(id))
gym.error.UnregisteredEnv: No registered env with id: DartHexapod-v1
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

Msg [pydart2_api] init...
Msg [pydart2_api] manager OK...
Msg [pydart2_api] RI OK...
Msg [pydart2_api] RI init OK...
Msg [pydart2_api] Initialize pydart manager OK
pydart initialization OK
Msg [pydart2_api] worlds.size = 1
Msg [pydart2_api] worlds.# skeletons = 2
/home/neebla/SymmetryCurriculumLocomotion/dart-env/gym/init.py:22: UserWarning: DEPRECATION WARNING: to improve load times, gym no longer automatically loads gym.spaces. Please run "import gym.spaces" to load gym.spaces on your own. This warning will turn into an error in a future version of gym.
warnings.warn('DEPRECATION WARNING: to improve load times, gym no longer automatically loads gym.spaces. Please run "import gym.spaces" to load gym.spaces on your own. This warning will turn into an error in a future version of gym.')
WARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.
WARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.
density of h_torso is 1397.979797979798
density of h_pelvis is 966.6666666666666
density of h_thigh is 999.9999999999999
density of h_shin is 1000.0
density of h_foot is 798.0246913580248
density of h_thigh_left is 999.9999999999999
density of h_shin_left is 1000.0
density of h_foot_left is 798.0246913580248
Total mass: 49.212
WARN: Environment '<class 'gym.envs.dart.walker3d.DartWalker3dEnv'>' has deprecated methods '_step' and '_reset' rather than 'step' and 'reset'. Compatibility code invoked. Set _gym_disable_underscore_compat = True to disable this behavior.
Traceback (most recent call last):
File "test_policy.py", line 97, in
policy_params = joblib.load(sys.argv[2])
File "/usr/local/lib/python3.6/dist-packages/joblib/numpy_pickle.py", line 598, in load
obj = _unpickle(fobj, filename, mmap_mode)
File "/usr/local/lib/python3.6/dist-packages/joblib/numpy_pickle.py", line 526, in _unpickle
obj = unpickler.load()
File "/usr/lib/python3.6/pickle.py", line 1046, in load
key = read(1)
File "/usr/lib/python3.6/pickle.py", line 238, in read
return self.file_read(n)
File "/usr/local/lib/python3.6/dist-packages/joblib/compressor.py", line 488, in readinto
return io.BufferedIOBase.readinto(self, b)
File "/usr/local/lib/python3.6/dist-packages/joblib/compressor.py", line 480, in read
return self._read_block(size)
File "/usr/local/lib/python3.6/dist-packages/joblib/compressor.py", line 453, in _read_block
while n_bytes > 0 and self._fill_buffer():
File "/usr/local/lib/python3.6/dist-packages/joblib/compressor.py", line 417, in _fill_buffer
self._buffer = self._decompressor.decompress(rawblock)
MemoryError
malloc_consolidate(): invalid chunk size
[VM-0-3-ubuntu:04692] *** Process received signal ***
[VM-0-3-ubuntu:04692] Signal: Aborted (6)
[VM-0-3-ubuntu:04692] Signal code: (-6)
[VM-0-3-ubuntu:04692] [ 0] /lib/x86_64-linux-gnu/libc.so.6(+0x3ef20) [0x7f52dd0f5f20]
[VM-0-3-ubuntu:04692] [ 1] /lib/x86_64-linux-gnu/libc.so.6(gsignal+0xc7) [0x7f52dd0f5e97]
[VM-0-3-ubuntu:04692] [ 2] /lib/x86_64-linux-gnu/libc.so.6(abort+0x141) [0x7f52dd0f7801]
[VM-0-3-ubuntu:04692] [ 3] /lib/x86_64-linux-gnu/libc.so.6(+0x89897) [0x7f52dd140897]
[VM-0-3-ubuntu:04692] [ 4] /lib/x86_64-linux-gnu/libc.so.6(+0x9090a) [0x7f52dd14790a]
[VM-0-3-ubuntu:04692] [ 5] /lib/x86_64-linux-gnu/libc.so.6(+0x90bae) [0x7f52dd147bae]
[VM-0-3-ubuntu:04692] [ 6] /lib/x86_64-linux-gnu/libc.so.6(cfree+0x6eb) [0x7f52dd14f03b]
[VM-0-3-ubuntu:04692] [ 7] /usr/local/lib/python3.6/dist-packages/h5py/.libs/libhdf5-5773eb11.so.103.0.0(+0x124e7f) [0x7f52bed61e7f]
[VM-0-3-ubuntu:04692] [ 8] /usr/local/lib/python3.6/dist-packages/h5py/.libs/libhdf5-5773eb11.so.103.0.0(H5FL_garbage_coll+0x10d) [0x7f52bed6285d]
[VM-0-3-ubuntu:04692] [ 9] /usr/local/lib/python3.6/dist-packages/h5py/.libs/libhdf5-5773eb11.so.103.0.0(H5FL_term_package+0x22) [0x7f52bed62962]
[VM-0-3-ubuntu:04692] [10] /usr/local/lib/python3.6/dist-packages/h5py/.libs/libhdf5-5773eb11.so.103.0.0(+0x48425) [0x7f52bec85425]
[VM-0-3-ubuntu:04692] [11] /lib/x86_64-linux-gnu/libc.so.6(+0x43041) [0x7f52dd0fa041]
[VM-0-3-ubuntu:04692] [12] /lib/x86_64-linux-gnu/libc.so.6(+0x4313a) [0x7f52dd0fa13a]
[VM-0-3-ubuntu:04692] [13] /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xee) [0x7f52dd0d8b9e]
[VM-0-3-ubuntu:04692] [14] python(_start+0x2a) [0x5afa0a]
[VM-0-3-ubuntu:04692] *** End of error message ***
Aborted (core dumped)

Hi,

In walker3d.py line number 219, you are computing velocity as :-
vel = (posafter-posbefore)/self.dt

But this shall give you wrong velocity as advance(np.copy(a)) which is called in between 'posbefore' and 'posafter' runs the simulator 'self.frame_skip' number of times so the above should have been

vel = (posafter-posbefore)/(self.frame_skip*self.dt)

Am I right?

Thanks