8000 numpy incompatibility when running rollout visualizations · Issue #8 · ARISE-Initiative/robosuite-benchmark · GitHub
[go: up one dir, main page]
More Web Proxy on the site http://driver.im/
Skip to content

numpy incompatibility when running rollout visualizations #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
rojas70 opened this issue Mar 9, 2021 · 0 comments
Open

numpy incompatibility when running rollout visualizations #8

rojas70 opened this issue Mar 9, 2021 · 0 comments

Comments

@rojas70
Copy link
rojas70 commented Mar 9, 2021 •
edited
Loading

Greetings,

My rb_bench environment is setup according to documentation.

Particularly for numpy and mujoco I have the following versions:

numpy                           1.16.0
mujoco-py                       2.0.2.9

However, when I first tried to visualize a rollout in my 'rb_bench' conda environment by calling python scripts/rollout.py --load_dir runs/PickPlaceCan-Panda-OSC-POSE-SEED129/PickPlaceCan_Panda_OSC_POSE_SEED129_2020_09_21_20_07_31_0000--s-0/ --horizon 200 --camera frontview

I get the following error:

Traceback (most recent call last):
  File "scripts/rollout.py", line 1, in <module>
    from util.rlkit_utils import simulate_policy
  File "/home/juan/python/drl/toolsuites/robosuite-benchmark/util/rlkit_utils.py", line 19, in <module>
    import robosuite as suite
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/__init__.py", line 1, in <module>
    from robosuite.environments.base import make
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/__init__.py", line 1, in <module>
    from .base import REGISTERED_ENVS, MujocoEnv
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/base.py", line 2, in <module>
    from mujoco_py import MjSim, MjRenderContextOffscreen
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 88 from C header, got 80 from PyObject

It's not the first time I see this error. It is an incompatibility between mujoco and numpy. Where mujoco 2.0.2.9 needs numpy 1.20.1 I believe.

If I upgrade to 1.20.1 by doing pip remove numpy and then pip install numpy that error is fixed but then when I try to visualize the rollout with the command:

python scripts/rollout.py --load_dir runs/Door-Panda-OSC-POSE-SEED17/Door_Panda_OSC_POSE_SEED17_2020_09_13_00_26_44_0000--s-0/ --horizon 200 --camera frontview

We get the following inconsistency:

Creating window glfw
Traceback (most recent call last):
  File "scripts/rollout.py", line 87, in <module>
    reward_shaping=True
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/base.py", line 41, in make
    return REGISTERED_ENVS[env_name](*args, **kwargs)
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/manipulation/door.py", line 184, in __init__
    camera_depths=camera_depths,
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/manipulation/manipulation_env.py", line 168, in __init__
    robot_configs=robot_configs,
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/robot_env.py", line 196, in __init__
    hard_reset=hard_reset,
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/base.py", line 147, in __init__
    self._reset_internal()
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/manipulation/door.py", line 375, in _reset_internal
    super()._reset_internal()
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/environments/robot_env.py", line 400, in _reset_internal
    robot.reset(deterministic=self.deterministic_reset)
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/robots/single_arm.py", line 175, in reset
    super().reset(deterministic)
  File "/home/juan/python/anaconda3/envs/rb_bench/lib/python3.7/site-packages/robosuite/robots/robot.py", line 147, in reset
    self.base_ori = T.mat2quat(self.sim.data.get_body_xmat(self.robot_model.root_body).reshape((3, 3)))
TypeError: expected dtype object, got 'numpy.dtype[float32]'

If I keep numpy at 17.1 but downgrade mujoco to 2.2.0 the rollouts work, but have yet to test robosuite here... It is stated that robosuite needs mujoco 2.0.2.9.

Please advice.
@rojas70 rojas70 changed the title numpy incompatibility when running rollout visualization numpy incompatibility when running rollout visualizations Mar 9, 2021
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@rojas70
0