"NO RESET" Problem While Getting Shadow_Robot OpenAI_ROS to run.

asked 2019-08-08 20:51:21 -0500

zrobertson
1 ●1 ●1 ●2

updated 2019-08-09 14:09:12 -0500

Hi,

I'm trying to get openai_ros setup in a docker container with Ubuntu 16.04 + Gazebo 7.0 + OpenAI Gym + ROS Kinetic. I've been having a lot of difficulties. My current setup has,

ros@48f4246dc605:~/simulation_ws/src$ ls
CMakeLists.txt  openai_ros  pysdf  shadow_robot_smart_grasping_sandbox

ros@48f4246dc605:~/catkin_ws/src$ ls
CMakeLists.txt  my_shadow_bot

My_shadow_bot has all the same files as from the shadow_bot q-learning example from openai_ross. When I type in,

roslaunch my_shadow_bot start_training.launch

I end up with an error. Any help to solve this issue would be greatly appreciated. Thanks!

Edit: Removing pyassimp, which seems to be the source of the error, and reinstalling gives a new error.

Removing ros-kinetic-moveit (0.9.17-1xenial-20190710-003134+0000) ...
Removing ros-kinetic-moveit-commander (0.9.17-1xenial-20190709-235240+0000) ...
Removing python-pyassimp (3.2~dfsg-3) ...
ros@48f4246dc605:~/catkin_ws/src$ pip2 install --user pyassimp
/usr/local/lib/python2.7/dist-packages/pip/_vendor/requests/__init__.py:83: RequestsDependencyWarning: Old version of cryptography ([1, 2, 3]) may cause slowdown.
  warnings.warn(warning, RequestsDependencyWarning)
Collecting pyassimp
  Downloading https://files.pythonhosted.org/packages/60/49/95560c2e694fa5bcbe885bdd4656948d083d67ee2adb0378e7d15637df4f/pyassimp-4.1.4.tar.gz (98kB)
    100% |████████████████████████████████| 102kB 6.3MB/s 
Installing collected packages: pyassimp
  Running setup.py install for pyassimp ... done
Successfully installed pyassimp-4.1.4

...

Traceback (most recent call last):
  File "/home/ros/catkin_ws/src/my_shadow_bot/scripts/start_qlearning_v2.py", line 22, in <module>
    task_and_robot_environment_name)
  File "/home/ros/simulation_ws/src/openai_ros/openai_ros/src/openai_ros/openai_ros_common.py", line 26, in StartOpenAI_ROS_Environment
    timestep_limit_per_episode=10000)
  File "/home/ros/simulation_ws/src/openai_ros/openai_ros/src/openai_ros/task_envs/task_envs_list.py", line 146, in RegisterOpenAI_Ros_Env
    from openai_ros.task_envs.shadow_tc import learn_to_pick_ball
  File "/home/ros/simulation_ws/src/openai_ros/openai_ros/src/openai_ros/task_envs/shadow_tc/learn_to_pick_ball.py", line 4, in <module>
    from openai_ros.robot_envs import shadow_tc_env
  File "/home/ros/simulation_ws/src/openai_ros/openai_ros/src/openai_ros/robot_envs/shadow_tc_env.py", line 8, in <module>
    from smart_grasping_sandbox.smart_grasper import SmartGrasper
  File "/home/ros/simulation_ws/src/shadow_robot_smart_grasping_sandbox/smart_grasping_sandbox/smart_grasping_sandbox/src/smart_grasping_sandbox/smart_grasper.py", line 9, in <module>
    from moveit_commander import MoveGroupCommander
ImportError: No module named moveit_commander

I'm still rather confused. The original error was from the below.

... logging to /home/ros/.ros/log/ce66aa76-ba1d-11e9-bc4a-0242ac110002/roslaunch-48f4246dc605-29211.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://48f4246dc605:40073/

SUMMARY

========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /shadow_tc/alpha: 0.1
 * /shadow_tc/epsilon: 0.9
 * /shadow_tc/epsilon_discount: 0.999
 * /shadow_tc/gamma: 0.7
 * /shadow_tc/nepisodes: 500
 * /shadow_tc/nsteps: 10000
 * /shadow_tc/ros_ws_abspath: /home/ros/simulat...
 * /shadow_tc/task_and_robot_environment_name: ShadowTcGetBall-v0

NODES
  /

 shadow_tc_learn_to_pick_ball_qlearn (my_shadow_bot/start_qlearning_v2.py)

ROS_MASTER_URI=http://localhost:11311

process[shadow_tc_learn_to_pick_ball_qlearn-1]: started with pid [29240]
[WARN] [1565314533.335220, 0.000000]: Env: ShadowTcGetBall-v0 will be imported
Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
[WARN] [1565314534.127100, 0.000000]: Register of Task Env went OK, lets make the env...ShadowTcGetBall-v0
[WARN] [1565314534.171720, 0.000000]: 

path_launch_file_name==/home/ros/simulation_ws/src/shadow_robot_smart_grasping_sandbox/shadow_gazebo/launch/start_world.launch
    ... logging to /home/ros/.ros/log/ce66aa76-ba1d-11e9-bc4a-0242ac110002/roslaunch-48f4246dc605-29240.log
    started roslaunch server http://48f4246dc605:32817 ...

(more)

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answered 2019-08-09 11:08:38 -0500

ct2034
862 ●21 ●75 ●44 https://twitter.com/ct2034

The problem seems to be pyassimp. Other people have it, too: https://github.com/ros-planning/movei... Probably the ubuntu version is bugged. (Assuming thats the one you installed currently) Run:

apt remove python-pyassimp
pip install --user pyassimp

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Hi, thanks for the response! I tried removing the package and reinstalling as you suggested. However, now it says that

 ImportError: No module named moveit_commander

Trying to fix that leads back to the same problem as before. I originally had tried rosdep install and I also tried to target specific versions of pyassimp. Neither seemed to work. There seem to be options to install from the source and/or to patch the library itself. Any quick fixes you know of? (Full detail in question edit)

zrobertson ( 2019-08-09 14:02:24 -0500 )edit

Can you verify which version of pyassimp you have installed? Did you install it from apt or pip? At moveit everyone seems to be happy about this: https://github.com/ros-planning/movei... indicating that 3.3 is required.

ct2034 ( 2019-08-09 14:31:45 -0500 )edit

I ran this command. I don't remember how I originally installed pyassimp. It's possible I did apt. However, when I recently tried this approach I made sure to do pip.

ros@48f4246dc605:~/catkin_ws$ pip2 show pyassimp | grep Version
/usr/local/lib/python2.7/dist-packages/pip/_vendor/requests/__init__.py:83: 
RequestsDependencyWarning: Old version of cryptography ([1, 2, 3]) may cause slowdown.
  warnings.warn(warning, RequestsDependencyWarning)
Version: 3.3
You are using pip version 18.0, however version 19.2.1 is available.
You should consider upgrading via the 'pip install --upgrade pip' command.

zrobertson ( 2019-08-09 15:04:40 -0500 )edit

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