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Custom OpenAI Gym environments based on PyChrono

Python 94.97% Dockerfile 2.51% Shell 2.52%

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sharm636 coderofgames cybersys ttxdy zzhou292 junyang0412

gym-chrono's Issues

URDF and Parsers module building

Hi,
I am trying to use gym-chrono in Linux cra-Lambda-Vector 5.15.0-100-generic #110~20.04.1-Ubuntu SMP Tue Feb 13 14:25:03 UTC 2024 x86_64 x86_64 x86_64 GNU/Linux, using the feature/robot_model (https://github.com/zzhou292/chrono/tree/feature/robot_model) branch of chrono. I am able to build Chrono with moudules: Chrono::Sensor, Chrono::Irrlicht, Chrono::SynChrono, Chrono::Vehicle, Chrono::Python, Chrono::OPENMP and Chrono::Parsers.

1 Building URDF:

This is not related to my question directly, but needs fixing on this branch I believe.

The lines (https://github.com/zzhou292/chrono/blob/e35a82779325d30d45b7f7941334d72b1968b972/src/chrono_parsers/ChParserURDF.cpp#L42) needs to be cleaned.
The buildURDF.sh file in this branch is not the same as official branch. That causes cmake config failure for urdf packages. So I used the one from the official branch (https://github.com/projectchrono/chrono/blob/main/contrib/build-scripts/urdf/buildURDF.sh) to use tinyxml2 and urdfdom fork from Radu's repo. This builds ok, allows the above Chrono modules to build.

2 Optix Engine Load issue:

When I try to run gym-chrono/gym_chrono/train/off_road_gator_train.py, it cannot init the Optix Engine. I get the folllowing error:

cra@cra-Lambda-Vector:~/chrono-ws/gym-chrono/gym_chrono/train$ python3 off_road_gator_train.py
Logging to gator_logs/
Failed to create a ChOptixEngine, with error:
OPTIX_ERROR_LIBRARY_NOT_FOUND: Library not found at /home/cra/chrono-ws/chrono/src/chrono_sensor/optix/ChOptixEngine.cpp:79
Failed to create a ChOptixEngine, with error:
OPTIX_ERROR_LIBRARY_NOT_FOUND: Library not found at /home/cra/chrono-ws/chrono/src/chrono_sensor/optix/ChOptixEngine.cpp:79
Failed to create a ChOptixEngine, with error:
OPTIX_ERROR_LIBRARY_NOT_FOUND: Library not found at /home/cra/chrono-ws/chrono/src/chrono_sensor/optix/ChOptixEngine.cpp:79
Failed to create a ChOptixEngine, with error:
OPTIX_ERROR_LIBRARY_NOT_FOUND: Library not found at /home/cra/chrono-ws/chrono/src/chrono_sensor/optix/ChOptixEngine.cpp:79
Failed to create a ChOptixEngine, with error:
OPTIX_ERROR_LIBRARY_NOT_FOUND: Library not found at /home/cra/chrono-ws/chrono/src/chrono_sensor/optix/ChOptixEngine.cpp:79
Failed to create a ChOptixEngine, with error:
OPTIX_ERROR_LIBRARY_NOT_FOUND: Library not found at /home/cra/chrono-ws/chrono/src/chrono_sensor/optix/ChOptixEngine.cpp:79
Traceback (most recent call last):
  File "off_road_gator_train.py", line 106, in <module>
    env = make_vec_env(env_id=make_env(0), n_envs=num_cpu,
  File "/home/cra/.local/lib/python3.8/site-packages/stable_baselines3/common/env_util.py", line 125, in make_vec_env
    vec_env = vec_env_cls([make_env(i + start_index) for i in range(n_envs)], **vec_env_kwargs)
  File "/home/cra/.local/lib/python3.8/site-packages/stable_baselines3/common/vec_env/subproc_vec_env.py", line 119, in __init__
    observation_space, action_space = self.remotes[0].recv()
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 250, in recv
    buf = self._recv_bytes()
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 414, in _recv_bytes
    buf = self._recv(4)
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 379, in _recv
    chunk = read(handle, remaining)
ConnectionResetError: [Errno 104] Connection reset by peer

The sensor demos in chrono_build/bin do not run either.

cra@cra-Lambda-Vector:~/chrono-ws/chrono_build/bin$ ./demo_SEN_Gator
Copyright (c) 2017 projectchrono.org
Chrono version: 8.0.0

Irrlicht Engine version 1.8.4
Linux 5.15.0-100-generic #110~20.04.1-Ubuntu SMP Tue Feb 13 14:25:03 UTC 2024 x86_64
Using plain X visual
This driver is not available in Linux. Try OpenGL or Software renderer.
Cannot use default video driver - fall back to OpenGL
Irrlicht Engine version 1.8.4
Linux 5.15.0-100-generic #110~20.04.1-Ubuntu SMP Tue Feb 13 14:25:03 UTC 2024 x86_64
Using renderer: OpenGL 3.1
llvmpipe (LLVM 12.0.0, 256 bits): Mesa/X.org
OpenGL driver version is 1.2 or better.
GLSL version: 1.4
Loaded texture: /home/cra/chrono-ws/chrono_build/data/skybox/sky_lf.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/skybox/sky_up.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/skybox/sky_dn.jpg
PNG warning: iCCP: known incorrect sRGB profile
Loaded texture: /home/cra/chrono-ws/chrono_build/data/logo_chronoengine_alpha.png
Loaded texture: /home/cra/chrono-ws/chrono_build/data/fonts/arial80.bmp
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Lidar_Generator_AlbedoTransparency.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Lidar_Generator_Normal.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Server_Mount_AlbedoTransparency.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Server_Mount_Normal.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Gator_Chassis_F_Bed_AlbedoTransparency.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Gator_Chassis_F_Bed_Normal.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Gator_Chairs_Dash_AlbedoTransparency.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Gator_Chairs_Dash_Normal.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Gator_Chassis_R_AlbedoTransparency.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Gator_Texture_Gator_Chassis_R_Normal.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Wheel_F_Gator_Wheels_AlbedoTransparency.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/gator/Textures/Wheel_F_Gator_Wheels_Normal.jpg
Loaded texture: /home/cra/chrono-ws/chrono_build/data/vehicle/terrain/textures/grass.jpg
Failed to create a ChOptixEngine, with error:
OPTIX_ERROR_LIBRARY_NOT_FOUND: Library not found at /home/cra/chrono-ws/chrono/src/chrono_sensor/optix/ChOptixEngine.cpp:79

cra@cra-Lambda-Vector:~/chrono-ws/chrono_build/bin$ ./demo_SEN_buildtest 
Copyright (c) 2019 projectchrono.org
Chrono version: 8.0.0

sensor manager being made
Failed to create a ChOptixEngine, with error:
OPTIX_ERROR_LIBRARY_NOT_FOUND: Library not found at /home/cra/chrono-ws/chrono/src/chrono_sensor/optix/ChOptixEngine.cpp:79

Not sure what the issue is, since the Chrono modules build successfully. Attaching my cMake output here.
cmake_configuration_output.txt

Any input is appreciated!

================================================

EDIT:
The 2nd issue (Optix Engine Load issue) is fixed for me. I just had a mismatch in the nvidia driver library that it pulls in at runtime. I had to ensure that the Cuda version I compiled the Optix7.7 with, matches the Cuda version compatible with the nvidia-driver I have installed.

Prakhar

Add link to Jason's chrono fork to docs

title.

Add Dockerfile

Add dockerfile so users don't have to build chrono / gymchrono on their own (because they have to build from Jason's branch).

Pip and Conda Package support

I love this idea of connect Project Chrono to Gym. However, I am having a difficult time compiling the PyChrono module. Could you create a pip package for the correct version of Chrono with its necessary modules? I am aware there is a conda release, but I don't think it was compiled with the correct Chrono modules. Maybe you can also create Gym-Chrono conda release as well?

Also creating a pip package might make this usable on Google's CoLab.

Memory leak in offroad_gator.py?

Hello,

I noticed that if I use vehicle models with the ChronoBaseEnv(), there is a memory leak in the vectorized environments. I have noticed this for the offroad_gator.py and an env I created using the hmmwv vehicle. The individual environments keep growing their memory usage. It seems as if some environment resources are not being released at env.reset(). The other env models such as cobra_wpts.py dont seem to leak memory, however. Is this a known issue? Does anyone have thoughts about debugging this? Maybe something to do with the gym.Env.close() implemention?

I am using top utility to monitor the memory usage and the /usr/bin/python3 -c from multiprocessing.forkserver ... nodes are the ones that grow in memory usage until the system runs out of memory and crashes. An example of where I monitor this (in this case, just re-ran cobra_wpts_train.py to reproduce results) :

top - 11:17:39 up 18:46,  1 user,  load average: 18.79, 16.91, 15.91
Tasks: 1366 total,   6 running, 1360 sleeping,   0 stopped,   0 zombie
%Cpu(s): 15.7 us,  0.0 sy,  0.0 ni, 84.3 id,  0.0 wa,  0.0 hi,  0.0 si,  0.0 st
MiB Mem : 515580.9 total, 488939.0 free,  15644.0 used,  10997.9 buff/cache
MiB Swap:   2048.0 total,   1606.5 free,    441.5 used. 496004.3 avail Mem 

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND                                                                                                                                                                                                                                                                                        
  81225 cra       20   0 1645756   1.5g  15624 S   0.0   0.3   0:26.70 /home/cra/.vscode/extensions/ms-vscode.cpptools-1.19.9-linux-x64/bin/cpptools                                                                                                                                                                                                                  
  66581 cra       20   0   21.1g   1.2g 402612 S   0.3   0.2  25:33.27 python3 cobra_wpts_train.py                                                                                                                                                                                                                                                                    
  69302 cra       20   0 1125.8g 718384  63300 S   0.0   0.1   7:03.47 /snap/code/155/usr/share/code/code /home/cra/.vscode/extensions/ms-python.vscode-pylance-2024.4.1/dist/server.bundle.js --cancellationReceive=file:bc412ecaf76652112fa93809a8f24e90483ce3ef52 --node-ipc --clientProcessId=68584                                                               
  84540 cra       20   0 4117136 591932 321480 S   0.3   0.1   0:37.34 /usr/lib/firefox/firefox -new-window                                                                                                                                                                                                                                                           
  68457 cra       20   0 1136.1g 550088 105772 S   0.0   0.1  12:15.34 /snap/code/155/usr/share/code/code --type=renderer --crashpad-handler-pid=68425 --enable-crash-reporter=c6aaa28c-db04-43a0-a4e3-9668ea18dfb3,no_channel --user-data-dir=/home/cra/.config/Code --standard-schemes=vscode-webview,vscode-file --secure-schemes=vscode-webview,vscode-file --co+ 
  66660 cra       20   0 5590972 534512 234492 S  77.9   0.1 207:05.27 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66658 cra       20   0 5590212 533708 234344 S  89.4   0.1 209:01.33 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66671 cra       20   0 5590656 533524 233924 S  87.5   0.1 203:24.93 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66652 cra       20   0 5590448 533512 233764 S  91.7   0.1 219:50.28 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66683 cra       20   0 5591232 533460 234220 R  87.5   0.1 204:19.76 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66664 cra       20   0 5590984 533380 233356 S  68.6   0.1 205:28.67 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66657 cra       20   0 5590208 533320 233960 S  92.7   0.1 208:44.55 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66649 cra       20   0 5591316 533312 232844 R  95.0   0.1 223:04.27 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66670 cra       20   0 5591084 533012 232884 S  78.9   0.1 204:00.27 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66659 cra       20   0 5590056 532832 233632 S  77.6   0.1 208:21.62 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66663 cra       20   0 5589696 532388 233960 S  72.3   0.1 206:55.54 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66653 cra       20   0 5589676 532336 234452 S  93.7   0.1 220:54.75 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66666 cra       20   0 5590196 532204 232860 S  86.5   0.1 204:40.95 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66651 cra       20   0 5590044 532104 232916 S  91.1   0.1 219:27.75 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66655 cra       20   0 5589284 531272 233912 R  80.5   0.1 217:58.57 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66662 cra       20   0 5588768 531052 233708 S  90.8   0.1 206:56.47 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66668 cra       20   0 5589972 530908 231796 S  69.3   0.1 204:51.29 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66656 cra       20   0 5590052 530280 231084 S  93.1   0.1 212:47.25 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66667 cra       20   0 5588568 530136 233784 S  67.3   0.1 203:21.30 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66661 cra       20   0 5588812 529720 233124 R  86.8   0.1 206:36.71 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66654 cra       20   0 5588412 529376 233188 S  80.2   0.1 218:59.53 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66669 cra       20   0 5590308 528620 229164 S  79.5   0.1 204:37.67 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66665 cra       20   0 5588840 527992 230576 S  76.6   0.1 204:15.16 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
  66650 cra       20   0 5585680 526760 233088 R  92.7   0.1 221:35.81 /usr/bin/python3 -c from multiprocessing.forkserver import main; main(52, 54, ['__main__'], **{'sys_path': ['/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono/gym_chrono/train', '/home/cra/chrono-ws/gym-chrono', '/home/cra/chrono-ws/chrono_build/bin', '+ 
   3793 cra       20   0 4637840 379480  98272 S   1.7   0.1   8:24.79 /usr/bin/gnome-shell

My training and system info:

- OS: Linux-5.15.0-101-generic-x86_64-with-glibc2.29 # 111~20.04.1-Ubuntu SMP Mon Mar 11 15:44:43 UTC 2024
- Python: 3.8.10
- Stable-Baselines3: 2.2.1
- PyTorch: 2.2.1+cu121
- GPU Enabled: True
- Numpy: 1.24.0
- Cloudpickle: 3.0.0
- Gymnasium: 0.29.1

Thanks.

Data folder path mixes up

The data folder that the users are asked to download seems to be incomplete - does not include vehicle meshes. Also adding the Chrono data directory in the readme implies that the Chrono data directory is being used for all the simulation assets. That also needs to be updated

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