failed to check the installation with mujoco envs

[pxlong]

I'm using Ubuntu 14.04 + Python 3.6.7 (Anaconda3-5.3.0-Linux-x86_64).

I have successfully installed mujoco, mujoco_py, gym and spinningup.

mujoco                    150
mujoco-py                 1.50.1.68
gym                       0.10.9 
spinup                    0.1

And the following code could work:

env = gym.make('Humanoid-v2') 
env.reset() 
env.render() 

But when I checked the spinningup installation by:

python -m spinup.run ppo --hid [32,32] --env Walker2d-v2 --exp_name installtest

I got the following errors:

Import error. Trying to rebuild mujoco_py.
running build_ext
building 'mujoco_py.cymj' extension
gcc -pthread -B /home/pxlong/anaconda3/envs/spinningup/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -fPIC -I/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py -I/home/pxlong/.mujoco/mjpro150/include -I/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/numpy/core/include -I/home/pxlong/anaconda3/envs/spinningup/include/python3.6m -c /home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/cymj.c -o /home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/generated/_pyxbld_1.50.1.68_36_linuxcpuextensionbuilder/temp.linux-x86_64-3.6/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/cymj.o -fopenmp -w
gcc -pthread -B /home/pxlong/anaconda3/envs/spinningup/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -fPIC -I/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py -I/home/pxlong/.mujoco/mjpro150/include -I/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/numpy/core/include -I/home/pxlong/anaconda3/envs/spinningup/include/python3.6m -c /home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/gl/osmesashim.c -o /home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/generated/_pyxbld_1.50.1.68_36_linuxcpuextensionbuilder/temp.linux-x86_64-3.6/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/gl/osmesashim.o -fopenmp -w
gcc -pthread -shared -B /home/pxlong/anaconda3/envs/spinningup/compiler_compat -L/home/pxlong/anaconda3/envs/spinningup/lib -Wl,-rpath=/home/pxlong/anaconda3/envs/spinningup/lib -Wl,--no-as-needed -Wl,--sysroot=/ /home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/generated/_pyxbld_1.50.1.68_36_linuxcpuextensionbuilder/temp.linux-x86_64-3.6/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/cymj.o /home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/generated/_pyxbld_1.50.1.68_36_linuxcpuextensionbuilder/temp.linux-x86_64-3.6/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/gl/osmesashim.o -L/home/pxlong/.mujoco/mjpro150/bin -Wl,-R/home/pxlong/.mujoco/mjpro150/bin -lmujoco150 -lglewosmesa -lOSMesa -lGL -o /home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/generated/_pyxbld_1.50.1.68_36_linuxcpuextensionbuilder/lib.linux-x86_64-3.6/mujoco_py/cymj.cpython-36m-x86_64-linux-gnu.so -fopenmp
Traceback (most recent call last):
File "/home/pxlong/Dropbox/git/gym/gym/envs/mujoco/mujoco_env.py", line 11, in
import mujoco_py
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/init.py", line 3, in
from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/builder.py", line 503, in
cymj = load_cython_ext(mjpro_path)
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/builder.py", line 106, in load_cython_ext
mod = load_dynamic_ext('cymj', cext_so_path)
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/mujoco_py-1.50.1.68-py3.6.egg/mujoco_py/builder.py", line 124, in load_dynamic_ext
return loader.load_module()
ImportError: dlopen: cannot load any more object with static TLS

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/pxlong/Dropbox/git/spinningup/spinup/utils/run_entrypoint.py", line 11, in
thunk()
File "/home/pxlong/Dropbox/git/spinningup/spinup/utils/run_utils.py", line 162, in thunk_plus
thunk(**kwargs)
File "/home/pxlong/Dropbox/git/spinningup/spinup/algos/ppo/ppo.py", line 175, in ppo
env = env_fn()
File "/home/pxlong/Dropbox/git/spinningup/spinup/utils/run_utils.py", line 155, in
kwargs['env_fn'] = lambda : gym.make(env_name)
File "/home/pxlong/Dropbox/git/gym/gym/envs/registration.py", line 167, in make
return registry.make(id)
File "/home/pxlong/Dropbox/git/gym/gym/envs/registration.py", line 119, in make
env = spec.make()
File "/home/pxlong/Dropbox/git/gym/gym/envs/registration.py", line 85, in make
cls = load(self._entry_point)
File "/home/pxlong/Dropbox/git/gym/gym/envs/registration.py", line 14, in load
result = entry_point.load(False)
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/pkg_resources/init.py", line 2343, in load
return self.resolve()
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/site-packages/pkg_resources/init.py", line 2349, in resolve
module = import(self.module_name, fromlist=['name'], level=0)
File "/home/pxlong/Dropbox/git/gym/gym/envs/mujoco/init.py", line 1, in
from gym.envs.mujoco.mujoco_env import MujocoEnv
File "/home/pxlong/Dropbox/git/gym/gym/envs/mujoco/mujoco_env.py", line 13, in
raise error.DependencyNotInstalled("{}. (HINT: you need to install mujoco_py, and also perform the setup instructions here: https://github.com/openai/mujoco-py/.)".format(e))
gym.error.DependencyNotInstalled: dlopen: cannot load any more object with static TLS. (HINT: you need to install mujoco_py, and also perform the setup instructions here: https://github.com/openai/mujoco-py/.)

================================================================================ There appears to have been an error in your experiment.
Check the traceback above to see what actually went wrong. The
traceback below, included for completeness (but probably not useful
for diagnosing the error), shows the stack leading up to the
experiment launch.
================================================================================

Traceback (most recent call last):
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/runpy.py", line 193, in _run_module_as_main
"main", mod_spec)
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/runpy.py", line 85, in _run_code
exec(code, run_globals)
File "/home/pxlong/Dropbox/git/spinningup/spinup/run.py", line 230, in
parse_and_execute_grid_search(cmd, args)
File "/home/pxlong/Dropbox/git/spinningup/spinup/run.py", line 162, in parse_and_execute_grid_search
eg.run(algo, **run_kwargs)
File "/home/pxlong/Dropbox/git/spinningup/spinup/utils/run_utils.py", line 546, in run
data_dir=data_dir, datestamp=datestamp, **var)
File "/home/pxlong/Dropbox/git/spinningup/spinup/utils/run_utils.py", line 171, in call_experiment
subprocess.check_call(cmd, env=os.environ)
File "/home/pxlong/anaconda3/envs/spinningup/lib/python3.6/subprocess.py", line 291, in check_call
raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['python', '/home/pxlong/Dropbox/git/spinningup/spinup/utils/run_entrypoint.py', 'eJyNUs9P1EAUnm6XpYCgEaORE4mX5eCWkHgDLmu8NOGAJp7MpNuZtmOnM7Uzg2BCYoLAkky88PTiP+vrLgLe6KTT977X7/3+3v81Dcns8S8yqR1rRFZJProng1+juZCS5k5lVmgF1zAsiX9M67Ti1FR8bkIY0VU6cUJaoag9aThiPhprxj90yjkcwjAhsxMm6+N3LJj2qkG7zXqMSHKFGgtekitySS6DvMdC1v8RIbawSzrLHrHBNDwLAjLt54j8RImR9wSGBz7i6oiqtOaQkHLpX5AeBlmeBp/JlJwF+OPBOfh+lzWmsuX34lLXPG6OpVZF/LbVzUQfx4WwsWmEUkIVrpmJ+HFWSBO3TtGZNGpOsLBdmdYTlu5D8mdMoFzxYXFSwwVsWSzUv8lSbBo/bngraq7saFdqhMz+yJZOVbSRztxht778oCslV2ChXPdR3Qia67bq3JZP/PIdF5Lf4zXSi4LuPA0GYRQiufqatoUBv6hcTbPGgV+YUeASEyzXL6DLLQlPUT+EUxj6xULqCaaASrnhn8/rHc2r7IJbrdFYblyD8RHjeeqkNXDg+0xkFkl+UGvmujX5n3vbK9wf3CbjWk6PUum4gU8wxMjYr5WPqax4u8NeH+2AX0ozepM+un1UCsa4okZ8m1OSzWSTG983nDOcsl+Vuih4e0cZ+mXtbOMsZaIFP37IeFlq01goY3FWlht7X6ZmG4eMA5wvll+5ZwPnksA/u6k4lYXGnWh094IPu/sauI++uFTOya8esA3g7OHoL/bmT1k=']' returned non-zero exit status 1.

[jachiam]

@machinaut, this looks like your wheelhouse.

@pxlong, try with a non-MuJoCo environment:

python -m spinup.run ppo --hid [32,32] --env LunarLander-v2 --exp_name installtest

just to make sure everything else is working.

[pxlong]

@jachiam Hi, many thanks for your quick reply.

Yes, it works. The LunarLander env works pretty well.
Thx.

[jachiam]

Glad to hear that's working all right. Hopefully we'll be able to resolve the mujoco issue soon.

With the humanoid code that you were able to run: where did you do that? Was it from the same python that you used to run the Spinning Up code? Does the humanoid code still work even after the Spinning Up bug?

[pxlong]

@jachiam Yes, it was from the same python env with Spinning UP.

I create a script (test_mujoco.py), put it into spinningup/test, and run it by

(spinningup) ➜  spinningup git:(master) ✗ python test/test_mujoco.py 
Creating window glfw

It still works even after the Spinning Up bug.

[machinaut]

@pxlong oh geez this tensorflow bug is fun. what version of tensorflow are you using?

The root of the error is here

dlopen: cannot load any more object with static TLS.

It turns out tensorflow allocates a bunch of limited resources normally shared by dynamically loaded libraries, so it's sometimes possible to run out of them if tensorflow is loaded too late. Importing tensorflow earlier in the load process seems to fix the problem.

If you want to read about the bug here's the thread tensorflow/tensorflow#19010 (comment)

Other solutions include updating to a more recent ubuntu or increasing the number of TLS slots.

[machinaut]

It's possible that the old 14.04 ubuntu kernel doesn't have enough TLS to do everything we need it to -- instead of recompiling the kernel to get more I'd recommend looking into updating to a more recent ubuntu version.

[pxlong]

I will update my OS to 16.04 and test it again.
Many thx.