about AttributeError: 'ColorVisuals' object has no attribute 'crc'

[Marverlises]

When i use this to test the environment, it always send me the message that AttributeError: 'ColorVisuals' object has no attribute 'crc', So what's the reason, thanks!

[WorldEditors]

Can you show us the executing environment and detailed log?

[Marverlises]

The original bug is:

D:\Anaconda\envs\paddlepaddle\lib\site-packages\trimesh\parent.py:94: DeprecationWarning: geometry.md5()is deprecated and will be removed in October 2023: replace withgeometry.hash()orhash(geometry)`
DeprecationWarning)
Traceback (most recent call last):
File "D:/Desktop/PARL_develop_examples_tutorials (1)/examples/parl2_dygraph_new/lesson5/homework/ddpg_quadrotor/train.py", line 184, in
main()
File "D:/Desktop/PARL_develop_examples_tutorials (1)/examples/parl2_dygraph_new/lesson5/homework/ddpg_quadrotor/train.py", line 163, in main
agent, env, EVAL_EPISODES, render=True)
File "D:/Desktop/PARL_develop_examples_tutorials (1)/examples/parl2_dygraph_new/lesson5/homework/ddpg_quadrotor/train.py", line 122, in run_evaluate_episodes
env.render()
File "D:/Desktop/PARL_develop_examples_tutorials (1)/examples/parl2_dygraph_new/lesson5/homework/ddpg_quadrotor/train.py", line 59, in render
self.env.render()
File "D:\Anaconda\envs\paddlepaddle\lib\site-packages\rlschool\quadrotor\env.py", line 169, in render
z_offset=self.z_offset)
File "D:\Anaconda\envs\paddlepaddle\lib\site-packages\rlschool\quadrotor\render.py", line 494, in init
debug_mode=debug_mode)
File "D:\Anaconda\envs\paddlepaddle\lib\site-packages\rlschool\quadrotor\render.py", line 117, in init
self._initialize(init_drone_z)
File "D:\Anaconda\envs\paddlepaddle\lib\site-packages\rlschool\quadrotor\render.py", line 130, in _initialize
self._add_drone()
File "D:\Anaconda\envs\paddlepaddle\lib\site-packages\rlschool\quadrotor\render.py", line 152, in _add_drone
if geometry_hash(geom) == self.drone_vertex_list_hash:
File "D:\Anaconda\envs\paddlepaddle\lib\site-packages\rlschool\quadrotor\utils.py", line 113, in geometry_hash
md5 += str(geometry.visual.crc())
AttributeError: 'ColorVisuals' object has no attribute 'crc'

Process finished with exit code 1

The error fragment code is shown below：

def geometry_hash(geometry):

Get an MD5 for a geometry object

Parameters
------------
geometry : object

Returns
------------
MD5 : str
"""
if hasattr(geometry, 'md5'):
    # for most of our trimesh objects
    md5 = geometry.md5()
elif hasattr(geometry, 'tostring'):
    # for unwrapped ndarray objects
    md5 = str(hash(geometry.tostring()))

if hasattr(geometry, 'visual'):
    # if visual properties are defined
    **md5 += str(geometry.crc()) //修改后的，原始为geometry.visual.crc()**
return md5

My environment is : Paddle version: 2.2.0 Paddle With CUDA: False OS: Windows 10 Python version: 3.7.13 CUDA version: None cuDNN version: None Nvidia driver version: 517.48

[xueeinstein]

@thisisbaiy It looks like the new version of trimesh library uses different geometry APIs and raises this error. Please consider downgrading it and checking the compatibility.

[WorldEditors]

I found similar issues in https://github.com/PaddlePaddle/MetaGym/issues/64 It can be solved by pip install trimesh==3.2.39, colour==0.1.5

It can actually solved by pip install metagym[quadrotor]