SKRL Documentation Jetbot example for Isaac sim doesn't work

qwe.marty · August 30, 2023, 9:12am

Jetbot Example throws an error when i follow the steps and run it.
https://skrl.readthedocs.io/en/latest/intro/examples.html#omniverse-isaac-sim-single-environment

[skrl:WARNING] Using a deprecated version of OpenAI Gym's API: 0.21.0
  0%|                                                                                                                                                | 0/500000 [00:00<?, ?it/s]
Traceback (most recent call last):
  File "torch_isaacsim_jetbot_ppo.py", line 137, in <module>
    trainer.train()
  File "/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/standalone_examples/api/omni.isaac.jetbot/skrl_example/src/skrl/skrl/trainers/torch/sequential.py", line 77, in train
    self.single_agent_train()
  File "/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/standalone_examples/api/omni.isaac.jetbot/skrl_example/src/skrl/skrl/trainers/torch/base.py", line 172, in single_agent_train
    actions = self.agents.act(states, timestep=timestep, timesteps=self.timesteps)[0]
  File "/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/standalone_examples/api/omni.isaac.jetbot/skrl_example/src/skrl/skrl/agents/torch/ppo/ppo.py", line 213, in act
    actions, log_prob, outputs = self.policy.act({"states": self._state_preprocessor(states)}, role="policy")
  File "/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/standalone_examples/api/omni.isaac.jetbot/skrl_example/src/skrl/skrl/models/torch/gaussian.py", line 138, in act
    mean_actions, log_std, outputs = self.compute(inputs, role)
  File "torch_isaacsim_jetbot_ppo.py", line 48, in compute
    x = self.net(inputs["states"].view(-1, *self.observation_space.shape).permute(0, 3, 1, 4))
RuntimeError: permute(sparse_coo): number of dimensions in the tensor input does not match the length of the desired ordering of dimensions i.e. input.dim() = 2 is not equal to len(dims) = 4
[skrl:INFO] Closing environment
[10.196s] Simulation App Shutting Down

For reference i ran cartpole and worked fine despite the same Gym error, i tried also import Gymnasium as Gym but didn’t work.

I’m ultimately trying to expand this example to use IPPO.
Thanks

toni.sm · August 30, 2023, 1:05pm

Hi @qwe.marty

Please, note that the Jetbot example in the skrl documentation (to shows how to define and use CNN) is for an old Isaac Sim version (2021.2.1). In that version (2021.2.1), the jetbot observation space was a 128 X 128 RGB image, while in the latest Isaac Sim (2022.2.1) the observation space is a 16 dim vector as indicted next:

Isaac Sim 2021.2.1 Jetbot environment specification:
- The action space is velocity targets for the jetbot wheels.
- The observation space is a 128 X 128 RGB egocentric image from the jetbot’s camera.
Isaac Sim 2022.2.1 (latest) Jetbot environment specification
- The action space is [forward_velocity, angular_velocity] for the Jetbot wheels.
- The observation space is a 16 dim vector consiting of jetbot_world_position, jetbot_world_orientation, jetbot_linear_velocity, jetbot_angular_velocity and goal_world_position.

You can use the following script (which uses a MLP policy and new hyperparameters) for training in the latest Isaac Sim version:

torch_isaacsim_jetbot_ppo.py (4.2 KB)

qwe.marty · August 30, 2023, 1:28pm

Got this when i ran non headless, and with headless pc sort of crashed. Headless worked for my other example though.

toni.sm · August 30, 2023, 1:54pm

Hi @qwe.marty

I can run the new file in non-headless mode without any problem.
Can you please share the Isaac Sim logs?

qwe.marty · August 30, 2023, 7:25pm

[skrl:INFO] Seed: 1521575493
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.isaac.kit.app_framework'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Starting kit application with the following args:  ['/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/exts', '--ext-folder', '/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/apps', '--/physics/cudaDevice=0', '--portable', '--no-window']
Passing the following args to the base kit application:  []
[Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[Info] [carb] Logging to file: /home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230830_202343.log
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|---------------------------------------------------------------------------------------------|
| Driver Version: 535.86.05     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------------|
| 0   | AMD Unknown (RADV RENOIR)        |        |     | 5468    MB | 1002      | 0          |
|     |                                  |        |     |            | 1638      | 00000000.. |
|---------------------------------------------------------------------------------------------|
| 1   | NVIDIA GeForce RTX 3060 Laptop.. | Yes: 0 |     | 6144    MB | 10de      | 0          |
|     |                                  |        |     |            | 2520      | 8aea3097.. |
|=============================================================================================|
| OS: Linux marty-Blade-14-RZ09-0370, Version: 6.2.0-26-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: AMD Ryzen 9 5900HX with Radeon Graphics         | Cores: Unknown | Logical: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 15380 | Free Memory: 3364
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2023-08-30 19:23:45 [1,957ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. Found 11 items in /sys/kernel/iommu_groups/.
2023-08-30 19:23:45 [1,957ms] [Warning] [gpu.foundation.plugin] On Linux only, CUDA and the display driver does not support IOMMU-enabled bare-metal PCIe peer to peer memory copy.
However, CUDA and the display driver does support IOMMU via VM pass through. As a consequence, users on Linux,
when running on a native bare metal system, should disable the IOMMU. The IOMMU should be enabled and the VFIO driver
be used as a PCIe pass through for virtual machines.
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2023-08-30 19:23:45 [1,957ms] [Warning] [gpu.foundation.plugin] !!!!! Local system validation failed! Incorrect configuration detected.
2023-08-30 19:23:45 [1,957ms] [Warning] [gpu.foundation.plugin]       Summary below. Details above.
2023-08-30 19:23:45 [1,957ms] [Warning] [gpu.foundation.plugin] -----------------------------------------------------------------------
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2023-08-30 19:23:45 [1,957ms] [Warning] [gpu.foundation.plugin]  - ECC:                         OK
2023-08-30 19:23:45 [1,957ms] [Warning] [gpu.foundation.plugin]  - IOMMU:                       FAILED
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[5.756s] Simulation App Starting
/home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 83899 Killed                  $python_exe "$@" $args
There was an error running python

Is that what you meant by logs? Right now i ran it headless as you sent me, still gave this error

toni.sm · August 30, 2023, 8:43pm

Hi @qwe.marty

Please, check the next link for the location for Isaac Sim logs.

Btw, do you have the same problem if you run the Jetbot stable baselines example?

qwe.marty · August 30, 2023, 11:26pm

attached
kit_20230830_053818.log (1.4 MB)
No i dont, works fine
Ultimately i want to be able to use SKRL for MARL for this codebase Reinforcement Learning using Stable Baselines — isaacsim latest documentation

toni.sm · August 31, 2023, 9:37am

Hi @qwe.marty

Regarding the execution of the example:

If the sb3 example works, running the skrl script for Isaac Sim 2022.2.1 Jetbot environment should work as well. Can you try running it again (by downloading the following files to any folder and running the command shown)?

env.py (6.0 KB)
torch_isaacsim_jetbot_ppo.py (4.2 KB)
```
~/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh torch_isaacsim_jetbot_ppo.py
```

Regarding the logs. The following has come to my attention:

What implementation are you performing that produces the following messages related to Isaac Gym Preview (isaacgymenvs)?

2023-08-30 04:38:41 [22,914ms] [Info] [omni.kit.app.plugin] Executing file: /tmp/carb.tF0yGW/script_1693370321.py
2023-08-30 04:38:41 [22,915ms] [Info] [omni.kit.app.plugin] Found a script to execute: /tmp/carb.tF0yGW/script_1693370321.py
2023-08-30 04:38:41 [22,917ms] [Error] [carb.scripting-python.plugin] ModuleNotFoundError: No module named 'isaacgymenvs'

At:
  /tmp/carb.tF0yGW/script_1693370321.py(1): <module>

2023-08-30 04:38:41 [22,917ms] [Error] [omni.kit.app.plugin] [py stderr]: ModuleNotFoundError: No module named 'isaacgymenvs'

At:
  /tmp/carb.tF0yGW/script_1693370321.py(1): <module>

2023-08-30 04:38:58 [40,051ms] [Info] [omni.kit.app.plugin] Executing file: /tmp/carb.tF0yGW/script_1693370338.py
2023-08-30 04:38:58 [40,051ms] [Info] [omni.kit.app.plugin] Found a script to execute: /tmp/carb.tF0yGW/script_1693370338.py
2023-08-30 04:38:58 [40,053ms] [Error] [carb.scripting-python.plugin] ModuleNotFoundError: No module named 'isaacgym'

At:
  /tmp/carb.tF0yGW/script_1693370338.py(1): <module>

2023-08-30 04:38:58 [40,053ms] [Error] [omni.kit.app.plugin] [py stderr]: ModuleNotFoundError: No module named 'isaacgym'

At:
  /tmp/carb.tF0yGW/script_1693370338.py(1): <module>

Btw, If you wish to perform RL with Omnniverse, I recommend moving your implementation to OIGE RL Framework or Isaac Orbit (both also supported by skrl).

The example implemented on Gym is extremely slow and does not take advantage of the simulation capabilities of massively parallel environments.

qwe.marty · August 31, 2023, 12:31pm

Same error with the files you sent
Not sure what you mean by which implementation?
kit_20230830_053818.log (1.4 MB)

If i were to run this on Orbit or OIGE, i wouldn’t need to change anything in the code?

toni.sm · September 1, 2023, 3:08pm

Hi @qwe.marty

What skrl version are you using?

~/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh -m pip show skrl

Regarding the environment: Yes, you need to implement your environment in OIGE or Issac Orbit.
It could take some time but you will gain on performance and will learn about creating your custom environment on top of those frameworks :)

qwe.marty · September 1, 2023, 3:40pm

~$ ~/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh -m pip show skrl
Name: skrl
Version: 1.0.0
Summary: Modular and flexible library for reinforcement learning on PyTorch and JAX
Home-page: 
Author: Toni-SM
Author-email: 
License: MIT License
Location: /home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/standalone_examples/api/omni.isaac.jetbot/skrl_example/src/skrl
Editable project location: /home/marty/.local/share/ov/pkg/isaac_sim-2022.2.1/standalone_examples/api/omni.isaac.jetbot/skrl_example/src/skrl
Requires: gym, gymnasium, packaging, tensorboard, tqdm
Required-by:

P.S Thanks for the information right now i do not care about speed of training or simulation, i care about the code working, so until then i will probably use Isaac sim vs Orbit/OIGE

qwe.marty · September 1, 2023, 4:02pm

It appears i made a silly mistake (when downloading the last file you sent it was showing as torch_isaacsim_jetbot_ppo(1).py as i had another older copy that wasn’t working

It works now, very slow compared to SB3, is that normal?
SB3 was running faster not headless compared to headless here

ALso what about Step 2 and 3 of Reinforcement Learning using Stable Baselines — Omniverse IsaacSim latest documentation of Launching Tensorboard and visualizing the training policy, should i use the same exact file and commands as that example?

qwe.marty · September 4, 2023, 1:47pm

Resolved, tensorboard works well with SKRL, just need to setup the directory

system · September 18, 2023, 1:47pm

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