abr / neurorobotics-2020 Goto Github PK

Dear Pawel/Travis,
I am really excited about this paper and I am trying to reproduce your rover experiment on my Notebook's CPU.
I have reasonable familiarity with nengo, nengo-gui and nengo_dl; I am currently exploring Mujoco thanks to your work.

I installed everything according to the README and as soon as I run 'rover.py' i get the following error message:
AttributeError: 'MjViewer' object has no attribute 'exit'
and another exception ocurred:
IndexError: too many indices for array: array is 1-dimensional, but 2 were indexed

The full terminal output message is:

Creating window glfw
Creating window glfw
MuJoCo session created
Build finished in 0:00:00                                                      
Optimization finished in 0:00:00                                               
Construction finished in 0:00:00                                               
D:\Programming\Anaconda3\lib\site-packages\nengo\node.py:62: UserWarning: 'Node.size_out' is being overwritten with 'Node.size_in' since 'Node.output=None'
  warnings.warn(
Traceback (most recent call last):

  File "C:\Users\Schechter\AppData\Local\Temp\ipykernel_12716\1004026268.py", line 35, in <module>
    sim.run(sim_runtime)

  File "D:\Programming\Anaconda3\lib\site-packages\nengo\simulator.py", line 386, in run
    self.run_steps(steps, progress_bar=progress_bar)

  File "D:\Programming\Anaconda3\lib\site-packages\nengo\simulator.py", line 410, in run_steps
    self.step()

  File "D:\Programming\Anaconda3\lib\site-packages\nengo\simulator.py", line 421, in step
    step_fn()

  File "D:\Programming\Anaconda3\lib\site-packages\nengo\builder\processes.py", line 135, in step_simprocess
    output[...] = step_f(t.item(), np.copy(input))

  File "D:\Programming\repos\nengo-interfaces\nengo_interfaces\mujoco.py", line 210, in step
    self.exit = self.viewer.exit

AttributeError: 'MjViewer' object has no attribute 'exit'


During handling of the above exception, another exception occurred:

Traceback (most recent call last):

  File 

"C:\Users\Schechter\AppData\Local\Temp\ipykernel_12716\1004026268.py", line 64, in <module>
    direct[:, 0], "r--", alpha=0.5, lw=3, label="Ideal steering torque"

IndexError: too many indices for array: array is 1-dimensional, but 2 were indexed

Hope you can shed any light, maybe I am missing some update in the code.
Thanks!

Dear Pawel/Travis,
How to solve:
Traceback (most recent call last):
File "rover.py", line 293, in
net = demo(
File "rover.py", line 149, in demo
check_exit_and_track_data = nengo.Node(
File "/home/lst/anaconda3/envs/mujo/lib/python3.8/site-packages/nengo/base.py", line 34, in call
inst.init(*args, **kwargs)
File "/home/lst/anaconda3/envs/mujo/lib/python3.8/site-packages/nengo/node.py", line 209, in init
self.output = output # Must be set after size_out; may modify size_out
File "/home/lst/anaconda3/envs/mujo/lib/python3.8/site-packages/nengo/base.py", line 108, in setattr
super().setattr(name, val)
File "/home/lst/anaconda3/envs/mujo/lib/python3.8/site-packages/nengo/config.py", line 479, in setattr
super().setattr(name, val)
File "/home/lst/anaconda3/envs/mujo/lib/python3.8/site-packages/nengo/params.py", line 151, in set
self.data[instance] = self.coerce(instance, value)
File "/home/lst/anaconda3/envs/mujo/lib/python3.8/site-packages/nengo/node.py", line 77, in coerce
node.size_out = self.check_callable_output(node, output)
File "/home/lst/anaconda3/envs/mujo/lib/python3.8/site-packages/nengo/node.py", line 99, in check_callable_output
result, invoked = checked_call(output, *args)
File "/home/lst/anaconda3/envs/mujo/lib/python3.8/site-packages/nengo/utils/stdlib.py", line 199, in checked_call
return CheckedCall(func(*args, **kwargs), True)
File "rover.py", line 133, in check_exit_and_track_data
rover_xyz = interface.get_position("base_link")
AttributeError: 'Mujoco' object has no attribute 'get_position'
Thanks.

Traceback (most recent call last):
File "rover.py", line 299, in
weights_name=weights,
File "rover.py", line 66, in demo
input_scale=np.array([steer_scale, accel_scale]),
File "/home/user/nengo-interfaces/nengo_interfaces/mujoco.py", line 87, in init
self.model = mjp.load_model_from_path(self.xml_file)
File "mujoco_py/cymj.pyx", line 132, in mujoco_py.cymj.load_model_from_path
Exception: Failed to load XML file: rover.xml. mj_loadXML error: b"Error: sizes must be positive in object 'floor' (id = 0)\nObject name = floor, id = 0, line = 30, column = 9"

Dear Pawel/Travis,
I want to do some experiments with nengo and reinforcement learning.
I followed the readme file to try running the sample.
The following error occurs:
Traceback (most recent call last):
File "rover.py", line 16, in
from rover_vision import RoverVision
File "G:\robot\neurorobotics-2020\rover_demo\rover_vision.py", line 29, in
import nengo_dl
File "F:\anaconda\envs\mujoco\lib\site-packages\nengo_dl_init_.py", line 42, in
from nengo_dl.simulator import Simulator # noqa: F401
File "F:\anaconda\envs\mujoco\lib\site-packages\nengo_dl\simulator.py", line 19, in
from nengo_dl.tensor_graph import TensorGraph
File "F:\anaconda\envs\mujoco\lib\site-packages\nengo_dl\tensor_graph.py", line 14, in
from nengo_dl import builder, graph_optimizer, signals, utils, tensor_node
File "F:\anaconda\envs\mujoco\lib\site-packages\nengo_dl\graph_optimizer.py", line 9, in
from nengo.utils.compat import iteritems
ModuleNotFoundError: No module named 'nengo.utils.compat'

nengo officially says that i need to install nengo==2.8, but nengo-loihi requires Nengo to be >= 3.0
How can I overcome this difficulty?

Dear Pawel/Travis,
I installed mujoco following your tutorial。
I can import mujoco_py rightly.
but,the following error occurs：

Traceback (most recent call last):
File "rover.py", line 14, in
from nengo_interfaces.mujoco import Mujoco
File "g:\neurorobotics-2020\nengo-interfaces\nengo_interfaces\mujoco.py", line 2, in
import mujoco_viewer
ModuleNotFoundError: No module named 'mujoco_viewer'

Hope you can shed any light，
Thanks!