Some Package Conflict and Solution

[XuXinhangNTU]

First Thanks to your amazing works!
So I find some package version conflict that may cause crush after following the installation guidance.

For successfully run the Synchronous Simulation, in json.py the line 132
need change the
if (rgba == [0.5, 0.5, 0.5, 1.0]).all(): -> if jp.array_equal(rgba, jp.array([0.5, 0.5, 0.5, 1.0])):

to avoid the error

Processing rollout for visualization
Traceback (most recent call last):
  File "/usr/local/bin/dial-mpc", line 33, in <module>
    sys.exit(load_entry_point('dial-mpc', 'console_scripts', 'dial-mpc')())
  File "/root/dial-mpc/dial_mpc/core/dial_core.py", line 290, in main
    webpage = html.render(
  File "/usr/local/lib/python3.10/dist-packages/brax/io/html.py", line 76, in render
    return render_from_json(json.dumps(sys, states), height, colab, base_url)
  File "/usr/local/lib/python3.10/dist-packages/brax/io/json.py", line 132, in dumps
    if (rgba == [0.5, 0.5, 0.5, 1.0]).all():
  File "/usr/local/lib/python3.10/dist-packages/jax/_src/numpy/array_methods.py", line 577, in deferring_binary_op
    raise TypeError(f"unsupported operand type(s) for {opchar}: "
TypeError: unsupported operand type(s) for ==: 'ArrayImpl' and 'list'

For successfully run the Asynchronous Simulation

The mojuco package should be <=3.2.4 because the mojuco.mjv_makeConnector is deprecated in version 3.2.5
Also the mujoco-mjx should change version to the corresponding mujuco package
To avoid

Traceback (most recent call last):
  File "/usr/local/bin/dial-mpc-sim", line 33, in <module>
    sys.exit(load_entry_point('dial-mpc', 'console_scripts', 'dial-mpc-sim')())
  File "/root/dial-mpc/dial_mpc/deploy/dial_sim.py", line 347, in main
    mujoco_env.main_loop()
  File "/root/dial-mpc/dial_mpc/deploy/dial_sim.py", line 192, in main_loop
    mujoco.mjv_makeConnector(
AttributeError: module 'mujoco' has no attribute 'mjv_makeConnector'. Did you mean: 'mjv_connector'?

And I also contribute a docker, feel free to play!

docker pull xuxinhang007/dialmpc:v1

[huihuaNvidia2023]

Hi @XuXinhangNTU, thanks for your docker image and installation tips. It's very helpful. Do you mind share your docker file?

[XuXinhangNTU]

Hi @huihuaNvidia2023 the docker image is public. Do you mean the .DockerFile ? I use docker commit to create the docker image, so I don’t prepare a DockerFile now. If you are interested in it, I can make it later.

[huihuaNvidia2023]

Hi @XuXinhangNTU, thank you for your reply!

Yes, I mean something like DockerFile.dial_mpc. It includes all the preparation, base image and required file/folder operations to create an image. Here is the link of an example.

[XuXinhangNTU]

@huihuaNvidia2023 Okay, but this week is busy. I will do it later and when I finish, I will upload it. Thx!

[huihuaNvidia2023]

Thanks, not in a hurry. I got it working locally after I post the first question. To run in the Synchronous, I actually don't need to update the json.py as you mentioned.

[XuXinhangNTU]

@ huihuaNvidia2023 It may be my docker environment Python version issue. Anyway, if you can let it run, that is good news. 😊

[HaoruXue]

ah thank you all for the discussion around the issue.

mjv_makeConnector is really just used for making the trajectory visualization. It should be fine to even just comment this out if people wants to use 3.2.5. But yeah I'll add a constraint to setup.py, since otherwise there are no benifits for switching to 3.2.5 (I guess we are all waiting on the mujoco-mjx's supposedly big updates comming up at this point 👀)

@XuXinhangNTU @huihuaNvidia2023 thanks for the discussion around the dockerfile too! Do you feel like opening a PR to include that in this upstream repo?

[HaoruXue]

@XuXinhangNTU @huihuaNvidia2023 any updates on whether you would be able to contribute a PR for the dockerfile? 😀

[huihuaNvidia2023]

Hi @HaoruXue, I didn't use any docker for my trial.

[XuXinhangNTU]

@XuXinhangNTU @huihuaNvidia2023 any updates on whether you would be able to contribute a PR for the dockerfile? 😀

Hi, Haoru, I will pub it before CNY! Still busy these days.

[HaoruXue]

@XuXinhangNTU @huihuaNvidia2023 any updates on whether you would be able to contribute a PR for the dockerfile? 😀

Hi, Haoru, I will pub it before CNY! Still busy these days.

Sounds good! Looking forward to it.