Is there simulator?

[JauJieYou]

I had git clone it and run. It works fine as running 6 processes. But there was no print_output, neither exactly running process traceable by top command, or systemic monitor. Did I do thing wrong?

[NayiniSriHarsh]

Hi JauJieYou,
Even I faced similar issue, but finally I was able to resolve issues with "Install dependencies" method. I have included the issues which I faced and solution to them along with the solution to your problem which is issue 5.

The issues I faced are:

1. While installing the required packages for ambf i.e. cat install/pip-requirements.txt | xargs -n 1 -L 1 pip install -U I got ERROR: Could not find a version that satisfies the requirement tomli>=2.0.1 (from yapf) (from versions: 0.2.0, 0.2.1, 0.2.2, 0.2.3, 0.2.4, 0.2.5, 0.2.6, 0.2.7, 0.2.8, 0.2.9, 0.2.10, 1.0.0, 1.0.1, 1.0.2, 1.0.3, 1.0.4, 1.1.0, 1.2.0, 1.2.1, 1.2.2, 1.2.3)
   #0 477.2 ERROR: No matching distribution found for tomli>=2.0.1 (from yapf)
2. While installing the required packages for ambf_rl, installation got stuck at building wheel (opencv)
3. While running commands in main.py file on individual terminal I encountered AttributeError: module 'contextlib' has no attribute 'nullcontext'
4. After resolving error 3 I got ImportError: dynamic module does not define module export function (PyInit_PyKDL)
5. An instance of AMBF was not spawn and training not starting.

For resolving error 1 and error 4:

Error 4 is related to ambf installation the error can be resolved by using from utilities_withoutpykdl import * which is present in fetal-rl branch. and change the version of yapf in install/pip-requirements.txt to yapf==0.32.0. You can clone the ambf using

git clone --branch fetal-rl https://github.com/WPI-AIM/ambf
and change the yapf version in install/pip-requirements.txt i.e. change yapf to yapf==0.32.0

For resolving error 2:

press ctrl+c and run
pip3 install opencv-python==4.5.3.56
and redo the installation

For resolving the error 3:

uninstall gym and reinstall gym==0.15.7 i.e.

pip3 uninstall gym
pip3 install gym==0.15.7

For resolving the Issue 5:

To see if there are any more errors, open the main.py file and go to each bash file and run the commands in different terminals and you can resolve them i.e.

Terminal 1:

source /opt/ros/melodic/setup.bash
roscore

Terminal 2:

source /opt/ros/melodic/setup.bash
source ~/ambf/build/devel/setup.bash
cd ~/ambf/bin/lin-x86_64
./ambf_simulator -l 5,22 -p 2000 -t 1 -s 2 # -g false

Terminal 3:

cd ~/
source /opt/ros/melodic/setup.bash
source ~/ambf/build/devel/setup.bash
cd ~/ambf_rl/scripts/dVRK/
python3 PSM_cartesian_ddpg_algorithm.py

Terminal 4:

cd ~/
source /opt/ros/melodic/setup.bash
source ~/ambf/build/devel/setup.bash
rosrun dvrk_functions psmIK_service.py

Terminal 5:

alias tensorboard='python3 -m tensorboard.main'
tensorboard --logdir ~/ambf_rl/scripts/dVRK/ddpg_dvrk_tensorboard --port 12346

You can open a browser and type http://localhost:12346 and see the training models and results