Error when env.render()

CommonRoad-RL
1

Hi everyone,

I want render the env after loading it from the tutorial 3. However, I get the error :

“AttributeError: ‘MPDrawParams’ object has no attribute ‘update’”.

I have the latest version of CommonRoad_RL.
What could be the problem?

Here is the full error

AttributeError                            Traceback (most recent call last)
<ipython-input-16-3bda7b2d99d9> in <module>
      1 observation = training_env.reset()
      2 for _ in range(50):
----> 3   training_env.render() # rendered images with be saved under ./img
      4   action, _states = model_continual.predict(observation, deterministic=True)
      5   observation, reward, done, info = training_env.step(action)

~/miniconda3/envs/commonroad2023/lib/python3.7/site-packages/stable_baselines/common/vec_env/base_vec_env.py in render(self, mode)
    245 
    246     def render(self, mode: str = 'human'):
--> 247         return self.venv.render(mode=mode)
    248 
    249     def get_images(self):

~/miniconda3/envs/commonroad2023/lib/python3.7/site-packages/stable_baselines/common/vec_env/dummy_vec_env.py in render(self, mode)
     83         """
     84         if self.num_envs == 1:
---> 85             return self.envs[0].render(mode=mode)
     86         else:
     87             return super().render(mode=mode)

~/miniconda3/envs/commonroad2023/lib/python3.7/site-packages/gym/core.py in render(self, mode, **kwargs)
    293 
    294     def render(self, mode="human", **kwargs):
--> 295         return self.env.render(mode, **kwargs)
    296 
    297     def close(self):

~/miniconda3/envs/commonroad2023/lib/python3.7/site-packages/gym/core.py in render(self, mode, **kwargs)
    293 
    294     def render(self, mode="human", **kwargs):
--> 295         return self.env.render(mode, **kwargs)
    296 
    297     def close(self):

~/miniconda3/envs/commonroad2023/lib/python3.7/site-packages/commonroad_rl/gym_commonroad/commonroad_env.py in render(self, mode, **kwargs)
    326 
    327         # update timestep in draw_params
--> 328         self.draw_params.update({"scenario": {"time_begin": self.current_step, "time_end": self.current_step}})
    329 
    330         # Draw scenario, goal, sensing range and detected obstacles

AttributeError: 'MPDrawParams' object has no attribute 'update'
2

Hi,

The problem could be that your commonroad-io version is not updated. Could you check which version are you using?

Best,
Xiao

3

Hi,

I am facing the same problem. @diegofc were you able to fix it?

I am using the following versions:
commonroad-drivability-checker: 2022.2.1
commonroad-io: 2022.3
commonroad-rl: 2023.1
commonroad-route-planner: 2022.3

Best
Mattijs

4

Hi both, there is a bug in the render() function. Here should be changed to

        self.draw_params.time_begin = self.current_step
        self.draw_params.time_end = self.current_step

This fix will be included in the next release.

Best,
Xiao

1 Like
5

Hello,
I recently installed CommonRoad-RL, but the errors seem to still be there.
Thanks in advance for your answer

Traceback (most recent call last):
  File "test.py", line 25, in <module>
    env.render() 
  File "/home/user/miniconda3/envs/cr37/lib/python3.7/site-packages/gym/core.py", line 295, in render
    return self.env.render(mode, **kwargs)
  File "/home/user/commonroad-rl/commonroad_rl/gym_commonroad/commonroad_env.py", line 328, in render
    self.draw_params.update({"scenario": {"time_begin": self.current_step, "time_end": self.current_step}})
AttributeError: 'MPDrawParams' object has no attribute 'update'
6

Hi crazymon,

yes, for an immediate fix, see above.
We are just now preparing the next release for the coming days where it will be fixed.

Best,
Philipp

7

Hello PhilippGassert,

What exactly needs to be changed in the code? (or maybe I should add?)
Could you please clarify the line of code where the fixes are needed?

Thanks for the help)

8

Hi,

as described here, you have to change the line of code that is linked to to the two new lines mentioned:

Best,
Philipp

9

Hello Philipp,

I corrected the lines of code, but the previous error when running the code appeared again. Here is a link to my previous problem [Tutorial code running problems].
Why is this happening?
I installed some packages and the problem went away then, but when I want to run the corrected code, the problem with the Qt plugin reappeared
Is it possible to somehow fix it?

Best,
crazymon

10

Hi crazymon,

did you try
sudo apt-get install -y libopenmpi-dev build-essential unzip cmake libboost-dev libboost-thread-dev libboost-test-dev libboost-filesystem-dev libeigen3-dev libcgal-dev xutils-dev libfcl-dev libomp-dev libgmp-dev libglu1-mesa-dev
?

Best,
Philipp

11

Hello Philipp,

No, but I installed your specified packages. Did not help. Same error… It would be nice in the future to download and use it without additional package downloads and other manual fixes. You can read more about the error at the link above.

Best,
crazymon

12

Hello everyone!

I also encountered the error mentioned above when using env.render(). I made the suggested modifications, but after that, I received the following error.

---------------------------------------------------------------------------
RuntimeError                              Traceback (most recent call last)
/tmp/ipykernel_5070/185096212.py in <module>
     22 observation = env.reset()
     23 for _ in range(500):
---> 24     env.render() # rendered images with be saved under ./img
     25     action = env.action_space.sample() # your agent here (this takes random actions)
     26     observation, reward, done, info = env.step(action)

~/anaconda3/envs/commonroad/lib/python3.7/site-packages/gym/core.py in render(self, mode, **kwargs)
    293 
    294     def render(self, mode="human", **kwargs):
--> 295         return self.env.render(mode, **kwargs)
    296 
    297     def close(self):

~/anaconda3/envs/commonroad/lib/python3.7/site-packages/commonroad_rl/gym_commonroad/commonroad_env.py in render(self, mode, **kwargs)
    336             self.planning_problem.draw(self.cr_render)
    337 
--> 338         self.observation_collector.render(self.render_configs, self.cr_render)
    339 
    340         # Draw ego vehicle # draw icon

~/anaconda3/envs/commonroad/lib/python3.7/site-packages/commonroad_rl/gym_commonroad/observation/observation_collector.py in render(self, render_configs, render)
    327                                               ego_lanelet=self.ego_lanelet, navigator=self.navigator)
...
--> 314             raise RuntimeError('xdata must be a sequence')
    315         if not np.iterable(ydata):
    316             raise RuntimeError('ydata must be a sequence')

RuntimeError: xdata must be a sequence

Can anyone help me to solve this problem?

Best,
Peter

13

Dear Peter,

can you please check what xdata is, i.e. if its None for example?

Best,
Philipp

14

Dear Philipp,

I checked the observation_collector.py, but I couldn’t find the exception handling in it, and there’s no xdata either.

The full render function looks like this:

def render(self, render_configs: Dict, render: MPRenderer):
    	self.lanelet_network_observation.draw(render_configs, render,
                                          	ego_vehicle=self._ego_vehicle, road_edge=self.road_edge,
                                          	ego_lanelet=self.ego_lanelet, navigator=self.navigator)
    	self.goal_observation.draw(render_configs, render, self.navigator)
    	self.surrounding_observation.draw(render_configs, render)
    	# Plot ccosys
    	if render_configs["render_local_ccosy"]:
        	# draw_params = ParamServer(
        	# 	{"lanelet":
        	#     	{"unique_colors": False,
        	#     	"draw_stop_line": False, "stop_line_color": "#ffffff", "draw_line_markings": False,
        	#     	"draw_left_bound": False, "draw_right_bound": False, "draw_center_bound": False,
        	#     	"draw_border_vertices": False, "draw_start_and_direction": False, "show_label": False,
        	#     	"draw_linewidth": 0.5, "fill_lanelet": True, "facecolor": "wheat"},
        	#  	"traffic_sign": {"draw_traffic_signs": False, "show_traffic_signs": "all", "show_label": True}
        	#  	}
        	# )
        	# render.draw_list(self._local_merged_lanelet, draw_params=draw_params)
        	# # TODO: temporary fix for missing draw method in Lanelet, remove after fixed in cr-io
        	# from commonroad.scenario.lanelet import LaneletNetwork
        	# LaneletNetwork.create_from_lanelet_list([self._local_merged_lanelet]).draw(render, draw_params=draw_params)
        	# self._local_merged_lanelet.draw(render, draw_params=draw_params)
        	reference_path_local_ccosy = np.array(self.local_ccosy.reference_path())
        	line = LineDataUnits(reference_path_local_ccosy[:, 0], reference_path_local_ccosy[:, 1],
                             	zorder=ZOrders.LANELET_LABEL, markersize=1., color="green",
                             	marker="x", label="Local CCOSy")
        	render.dynamic_artists.append(line)

Best,
Peter

15

Ok, thanks, but can you please check if any of the arguments passed to self.observation_collector.render() are None or an attribute of the observation collector used in the render function is None at runtime?