error when running python3 teleop.py robot=liberos_sim sim_env=True
ChangerC77 opened this issue · comments
Here is my error output:
(openteach) ➜ Open-Teach git:(main) ✗ python teleop.py robot=libero_sim sim_env=True
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Starting vr detector component
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Starting keypoint position transform component
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Process Process-1:
Traceback (most recent call last):
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/site-packages/hydra/_internal/utils.py", line 639, in _locate
obj = getattr(obj, part)
AttributeError: module 'openteach.components.environment' has no attribute 'libero_env'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/site-packages/hydra/_internal/utils.py", line 645, in _locate
obj = import_module(mod)
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/home/ros/GAIRLAB/Open-Teach/openteach/components/environment/libero_env.py", line 11, in <module>
from libero.libero import benchmark, get_libero_path
ModuleNotFoundError: No module named 'libero'
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 134, in _resolve_target
target = _locate(target)
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/site-packages/hydra/_internal/utils.py", line 648, in _locate
raise ImportError(
ImportError: Error loading 'openteach.components.environment.libero_env.LiberoEnv':
ModuleNotFoundError("No module named 'libero'")
Are you sure that 'libero_env' is importable from module 'openteach.components.environment'?
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
self.run()
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/multiprocessing/process.py", line 108, in run
self._target(*self._args, **self._kwargs)
File "/home/ros/GAIRLAB/Open-Teach/openteach/components/initializers.py", line 112, in _start_component
component = hydra.utils.instantiate(configs)
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 222, in instantiate
return instantiate_node(
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 325, in instantiate_node
_target_ = _resolve_target(node.get(_Keys.TARGET), full_key)
File "/home/ros/anaconda3/envs/openteach/lib/python3.10/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 139, in _resolve_target
raise InstantiationException(msg) from e
hydra.errors.InstantiationException: Error locating target 'openteach.components.environment.libero_env.LiberoEnv', see chained exception above.
full_key: robot.environment0
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Starting hand 2D plotter component
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Starting libero operator component
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Starting calibration component
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Calibration file already exists. Do you want to create a new one? Press y for Yes else press Entern
Stopping the calibrator.
Closing the subscriber socket in [192.168.2.110:8089](http://192.168.2.110:8089/).
THUMB BOUNDS IN THE OPERATOR: [array([0.07, 0.1 ]), array([0.07, 0.07]), array([-0.01, 0.08]), array([-0.01, 0.09]), [-0.029687233564084578, -0.060893850578688846]]
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Starting Libero_Sim control component
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Start controlling the robot hand using the Oculus Headset.
****** RESETTING TELEOP ******
/home/ros/GAIRLAB/Open-Teach/openteach/components/visualizers/plotters/plotter_2d.py:91: UserWarning: Matplotlib is currently using agg, which is a non-GUI backend, so cannot show the figure.
plt.pause(0.001) # This make the graph show up if matplotlib is in Tkinter mode
and I use BimanualArm.apk, but now it can only recognize my right hand pose, does it ok?
and then I run python3 data_collect.py robot=libero_sim sim_env=True demo_num=1, it will output this inofrmation:
Reaching correct function
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Starting RGB stream: 10005 component
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tcp://[192.168.2.110:10005](http://192.168.2.110:10005/)
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Starting Depth stream: 11005 component
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tcp://[192.168.2.110:11005](http://192.168.2.110:11005/)
Starting to record RGB frames from port: 10005
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Starting endeffector_cartesian_states component
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Checking if the keypoint port is active...
Starting to record keypoints to store in extracted_data/demonstration_1/endeffector_cartesian_states.h5.
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Starting endeffector_commanded_cartesian_states component
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Checking if the keypoint port is active...
Starting to record keypoints to store in extracted_data/demonstration_1/endeffector_commanded_cartesian_states.h5.
but I cannot see any simulation start, did I make a step mistake somewhere?
I found that it occurred this error: from libero.libero import benchmark, get_libero_path ModuleNotFoundError: No module named 'libero' but I downloaded LIBERO library in open-tech file, Did I put it into the wrong path?
ok, I have solved these problems. There are several places that need to be modified. One is the path of libero. The one cloned from github is LIBERO/libero. Then I only need to put libero into Open tech, and in /libero/libero/init You need to modify the path of libero in .py, and then use from openteach.components.environment.libero_env import LiberoEnv to create the dataset path in python.
Hi yes, you are right and sorry for missing this issue. This information has been added in the docs to enter the dataset path in python.