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ascane / sacq-hsr

SAC-Q on Human Support Robot
MIT License
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Error import core #1

Open yani-rl-ai opened 4 years ago

yani-rl-ai commented 4 years ago

Hi @ascane i got this following error : (hsrgym) kubota-lab@kubotalab-P960EF:~/gym-gazebo-hsr/sacq-hsr/sacx/experiments$ python gazebohsr_sacx.py Traceback (most recent call last): File "gazebohsr_sacx.py", line 1, in import core ImportError: No module named core

Can you help me to solve my problem?

ascane commented 4 years ago

Hi @ROSNovice, ~/gym-gazebo-hsr/sacq-hsr/core.py is the file you are importing. Have you tried adding ~/gym-gazebo-hsr/sacq-hsr/ to your PYTHONPATH?

yani-rl-ai commented 4 years ago

hi @ascane thank you for your reply.

i have install all the required dependencies but the HSR is not started training an a lot of error like this following result :

(hsrbgym) kubota-lab@kubotalab-P960EF:~/gym-gazebo-hsr/sacq-hsr/sacx/experiments$ python gazebohsr_sacx.py Using Theano backend. ... logging to /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/roslaunch-kubotalab-P960EF-458.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.1.40:41513/ ros_comm version 1.12.14

SUMMARY

PARAMETERS

NODES

auto-starting new master process[master]: started with pid [469] ROS_MASTER_URI=http://10.0.1.40:11311/

setting /run_id to 28702dbc-c4e0-11ea-999a-5076afa87c35 process[rosout-1]: started with pid [483] started core service [/rosout] Roscore launched! Gazebo launched! ... logging to /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/roslaunch-kubotalab-P960EF-500.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.1.40:43463/

SUMMARY

PARAMETERS

NODES /hsrb/wrist_wrench/ compensation_node (tmc_force_torque_sensor_compensation/force_torque_sensor_compensation_node) /hsrb/ controller_spawner (controller_manager/spawner) hsrb_grasp_state_observer (hsrb_grasp_state_observer/grasp_state_observer) impedance_control (hsrb_impedance_control/hsrb_impedance_control_node) interactive_teleop (tmc_interactive_teleop/interactive_teleop_node) interactive_teleop_joy (tmc_interactive_teleop/interactive_teleop_node) joy_node (joy/joy_node) metric_rect (nodelet/nodelet) odometry_switcher (tmc_odometry_switcher/odometry_switcher_node) pseudo_endeffector_controller (hsrb_pseudo_endeffector_controller/hsrb_pseudo_endeffector_controller) pseudo_velocity_controller (tmc_pseudo_velocity_controller/pseudo_velocity_controller) stereo_camera_nodelet_manager (nodelet/nodelet) /hsrb/head_rgbd_sensor/rgb/ debayer (nodelet/nodelet) nodelet_manager (nodelet/nodelet) / action_give (tmc_manipulation_action/action_give_hsrb) action_manager (tmc_action_manager/action_manager) action_move_base (tmc_action_move_base/action_move_base) action_pick_up (tmc_manipulation_action/action_pick_up_hsrb) action_planner (tmc_action_planner/action_planner) action_put (tmc_manipulation_action/action_put_hsrb) action_take (tmc_manipulation_action/action_take_hsrb) attached_object_publisher (tmc_attached_object_publisher/attached_object_publisher) base_path_planner (tmc_base_path_planner/base_path_planner) base_rviz_wrapper (tmc_base_visualizer/base_rviz_wrapper) collision_environment (tmc_collision_environment/collision_environment) collision_trajectory_filter_arm (tmc_collision_trajectory_filter/collision_trajectory_filter) collision_trajectory_filter_head (tmc_collision_trajectory_filter/collision_trajectory_filter) depth_hw_float_image_pub (topic_tools/relay) depth_hw_rect_image_pub (topic_tools/relay) depth_hw_rect_raw_image_pub (topic_tools/relay) depth_raw_image_pub (topic_tools/relay) depthcloud_encoder_node (tmc_depthcloud_encoder/tmc_depthcloud_encoder_node) env_db (tmc_env_db/env_db_node) gazebo (gazebo_ros/gzserver) grid_map_server (tmc_grid_map_server/grid_map_server) head_l_stereo_camera_frame_pub (tf/static_transform_publisher) head_r_stereo_camera_frame_pub (tf/static_transform_publisher) head_rgbd_sensor_depth_frame_pub (tf/static_transform_publisher) head_rgbd_sensor_rgb_frame_pub (tf/static_transform_publisher) heartbeat_watcher (tmc_web_helper/heartbeat_watcher.py) hsrb_planner (tmc_robot_rrt_planner_node/robot_rrt_planner_node) hsrb_timeopt_filter (hsrb_timeopt_ros/hsrb_timeopt_filter) hsrb_timeopt_filter_node (hsrb_trajectory_filter/hsrb_timeopt_filter_node.py) hsrb_web_server_node (hsrb_web_server/hsrb_web_server_node) interactive_grasp_planner (tmc_interactive_grasp_planner/interactive_grasp_planner_node) interactive_marker_proxy (interactive_marker_proxy/proxy) joint_state_publisher (joint_state_publisher/joint_state_publisher) l_stereo_raw_image_pub (topic_tools/relay) laser_2d_localizer (tmc_laser_2d_localizer/laser_2d_localizer) marker (tmc_stereo_marker_recognizer/stereo_marker_recognizer_node) marker_based_localizer (tmc_marker_based_localizer/marker_based_localizer) mesh_data_server (tmc_mesh_data_server/mesh_data_server) move_base (tmc_move_base/move_base_node) normal_point_cloud_pub (topic_tools/relay) object_information_publisher (tmc_object_information_publisher/object_information_publisher) omni_path_follower (tmc_omni_path_follower/omni_path_follower) perspective_transformer (tmc_perspective_transformer/perspective_transformer_node) placement_area_detector (tmc_placement_area_detector/placement_area_detector_node) pose_integrator (tmc_pose_integrator/pose_integrator) r_stereo_raw_image_pub (topic_tools/relay) remote_exec_manager (tmc_remote_exec/manager_node.py) restoredb (tmc_env_db/restoredb.sh) rgb_raw_image_pub (topic_tools/relay) rgb_rect_mono_image_pub (topic_tools/relay) robot_state_publisher (robot_state_publisher/robot_state_publisher) rosapi (rosapi/rosapi_node) rosbridge_websocket (rosbridge_server/rosbridge_websocket) safe_pose_changer (tmc_safe_pose_changer/safe_pose_changer) safety_velocity_limiter (tmc_safety_velocity_limiter/safety_velocity_limiter) scan_to_cloud_converter (scan_to_cloud_converter/scan_to_cloud_converter_node) spawn_hsrb_model (gazebo_ros/spawn_model) tabletop_segmentator_node (tmc_tabletop_segmentator/server) talk_action_simulator (tmc_talk_action_simulator/talk_request_server) task_carry (tmc_web_helper/pseudo_task_carry.py) task_manager (tmc_task_manager/task_manager) tf2_buffer_server (tf2_ros/buffer_server) tf2_web_republisher (tf2_web_republisher/tf2_web_republisher) tmc_map_merger (tmc_map_merger/map_merger_node) trajectory_filter (trajectory_filter_server/trajectory_filter_server) velocity_switcher (tmc_velocity_switcher/velocity_switcher) viewpoint_controller (tmc_viewpoint_controller/viewpoint_controller) web_video_server (web_video_server/web_video_server) web_video_server2 (web_video_server/web_video_server)

ROS_MASTER_URI=http://10.0.1.40:11311/

process[gazebo-1]: started with pid [546] process[spawn_hsrb_model-2]: started with pid [551] process[robot_state_publisher-3]: started with pid [552] process[joint_state_publisher-4]: started with pid [554] process[head_l_stereo_camera_frame_pub-5]: started with pid [555] process[head_r_stereo_camera_frame_pub-6]: started with pid [566] process[head_rgbd_sensor_rgb_frame_pub-7]: started with pid [582] process[head_rgbd_sensor_depth_frame_pub-8]: started with pid [607] process[hsrb/head_rgbd_sensor/rgb/nodelet_manager-9]: started with pid [622] process[hsrb/head_rgbd_sensor/rgb/debayer-10]: started with pid [636] process[rgb_raw_image_pub-11]: started with pid [642] process[rgb_rect_mono_image_pub-12]: started with pid [650] process[l_stereo_raw_image_pub-13]: started with pid [677] process[r_stereo_raw_image_pub-14]: started with pid [704] process[depth_raw_image_pub-15]: started with pid [720] process[depth_hw_float_image_pub-16]: started with pid [747] process[depth_hw_rect_image_pub-17]: started with pid [755] process[depth_hw_rect_raw_image_pub-18]: started with pid [771] process[normal_point_cloud_pub-19]: started with pid [790] process[hsrb/odometry_switcher-20]: started with pid [805] process[hsrb/controller_spawner-21]: started with pid [835] process[hsrb/stereo_camera_nodelet_manager-22]: started with pid [850] process[hsrb/wrist_wrench/compensation_node-23]: started with pid [865] process[hsrb/metric_rect-24]: started with pid [874] process[talk_action_simulator-25]: started with pid [878] process[mesh_data_server-26]: started with pid [881] process[collision_environment-27]: started with pid [888] process[object_information_publisher-28]: started with pid [892] process[attached_object_publisher-29]: started with pid [904] process[trajectory_filter-30]: started with pid [926] process[hsrb_timeopt_filter-31]: started with pid [937] process[hsrb_timeopt_filter_node-32]: started with pid [942] process[perspective_transformer-33]: started with pid [945] process[safe_pose_changer-34]: started with pid [951] process[hsrb/impedance_control-35]: started with pid [956] process[hsrb/hsrb_grasp_state_observer-36]: started with pid [979] process[collision_trajectory_filter_head-37]: started with pid [992] process[collision_trajectory_filter_arm-38]: started with pid [1026] process[hsrb_planner-39]: started with pid [1048] process[interactive_grasp_planner-40]: started with pid [1062] process[base_path_planner-41]: started with pid [1076] process[omni_path_follower-42]: started with pid [1090] process[pose_integrator-43]: started with pid [1106] process[base_rviz_wrapper-44]: started with pid [1110] process[grid_map_server-45]: started with pid [1113] process[tmc_map_merger-46]: started with pid [1114] process[laser_2d_localizer-47]: started with pid [1120] process[move_base-48]: started with pid [1123] process[action_move_base-49]: started with pid [1138] process[scan_to_cloud_converter-50]: started with pid [1151] process[viewpoint_controller-51]: started with pid [1168] process[safety_velocity_limiter-52]: started with pid [1190] process[velocity_switcher-53]: started with pid [1213] process[marker_based_localizer-54]: started with pid [1233] process[marker-55]: started with pid [1256] process[placement_area_detector-56]: started with pid [1266] SpawnModel script started process[tabletop_segmentator_node-57]: started with pid [1270] process[restoredb-58]: started with pid [1295] process[env_db-59]: started with pid [1305] process[action_manager-60]: started with pid [1310] [restoredb-58] process has finished cleanly log file: /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/restoredb-58.log process[action_planner-61]: started with pid [1343] process[task_manager-62]: started with pid [1362] No module named PySide.QtCore process[action_take-63]: started with pid [1371] process[action_give-64]: started with pid [1373] process[action_pick_up-65]: started with pid [1377] process[action_put-66]: started with pid [1384] process[hsrb/interactive_teleop-67]: started with pid [1401] process[hsrb/pseudo_velocity_controller-68]: started with pid [1425] process[hsrb/interactive_teleop_joy-69]: started with pid [1436] process[hsrb/pseudo_endeffector_controller-70]: started with pid [1456] process[hsrb/joy_node-71]: started with pid [1485] process[hsrb_web_server_node-72]: started with pid [1532] process[rosbridge_websocket-73]: started with pid [1546] process[rosapi-74]: started with pid [1561] process[tf2_web_republisher-75]: started with pid [1566] process[interactive_marker_proxy-76]: started with pid [1571] process[remote_exec_manager-77]: started with pid [1577] process[task_carry-78]: started with pid [1579] process[heartbeat_watcher-79]: started with pid [1583] process[web_video_server-80]: started with pid [1592] process[web_video_server2-81]: started with pid [1602] process[depthcloud_encoder_node-82]: started with pid [1615] Traceback (most recent call last): File "/opt/ros/kinetic/lib/hsrb_web_server/hsrb_web_server_node", line 40, in import tornado.ioloop File "/home/kubota-lab/anaconda3/envs/hsrbgym/lib/python2.7/site-packages/tornado/ioloop.py", line 52, in from tornado.concurrent import Future, is_future, chain_future, future_set_exc_info, future_add_done_callback # noqa: E501 File "/home/kubota-lab/anaconda3/envs/hsrbgym/lib/python2.7/site-packages/tornado/concurrent.py", line 48, in import asyncio File "/home/kubota-lab/.local/lib/python2.7/site-packages/asyncio/init.py", line 9, in from . import selectors File "/home/kubota-lab/.local/lib/python2.7/site-packages/asyncio/selectors.py", line 39 "{!r}".format(fileobj)) from None ^ SyntaxError: invalid syntax process[tf2_buffer_server-83]: started with pid [1623] [hsrb_web_server_node-72] process has died [pid 1532, exit code 1, cmd /opt/ros/kinetic/lib/hsrb_web_server/hsrb_web_server_node /joint_states:=hsrb/joint_states __name:=hsrb_web_server_node __log:=/home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/hsrb_web_server_node-72.log]. log file: /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/hsrb_web_server_node-72.log [INFO] [1594627766.693209, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1594627766.752696413]: Initializing nodelet with 12 worker threads. :0: UserWarning: You do not have a working installation of the service_identity module: 'No module named service_identity'. Please install it from https://pypi.python.org/pypi/service_identity and make sure all of its dependencies are satisfied. Without the service_identity module, Twisted can perform only rudimentary TLS client hostname verification. Many valid certificate/hostname mappings may be rejected. [INFO] [1594627766.823457, 0.000000]: Loading model XML from ros parameter [INFO] [1594627766.867762, 0.000000]: Waiting for service /gazebo/spawn_urdf_model 2020-07-13 17:09:26+0900 [-] Log opened. 2020-07-13 17:09:26+0900 [-] Traceback (most recent call last): 2020-07-13 17:09:26+0900 [-] File "/opt/ros/kinetic/lib/rosbridge_server/rosbridge_websocket", line 48, in 2020-07-13 17:09:26+0900 [-] from rosbridge_server import ClientManager 2020-07-13 17:09:26+0900 [-] File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosbridge_server/init.py", line 2, in 2020-07-13 17:09:26+0900 [-] from .websocket_handler import RosbridgeWebSocket 2020-07-13 17:09:26+0900 [-] File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosbridge_server/websocket_handler.py", line 44, in 2020-07-13 17:09:26+0900 [-] from tornado.ioloop import IOLoop 2020-07-13 17:09:26+0900 [-] File "/home/kubota-lab/anaconda3/envs/hsrbgym/lib/python2.7/site-packages/tornado/ioloop.py", line 52, in 2020-07-13 17:09:26+0900 [-] from tornado.concurrent import Future, is_future, chain_future, future_set_exc_info, future_add_done_callback # noqa: E501 2020-07-13 17:09:26+0900 [-] File "/home/kubota-lab/anaconda3/envs/hsrbgym/lib/python2.7/site-packages/tornado/concurrent.py", line 48, in 2020-07-13 17:09:26+0900 [-] import asyncio 2020-07-13 17:09:26+0900 [-] File "/home/kubota-lab/.local/lib/python2.7/site-packages/asyncio/init.py", line 9, in 2020-07-13 17:09:26+0900 [-] from . import selectors 2020-07-13 17:09:26+0900 [-] File "/home/kubota-lab/.local/lib/python2.7/site-packages/asyncio/selectors.py", line 39 2020-07-13 17:09:26+0900 [-] "{!r}".format(fileobj)) from None 2020-07-13 17:09:26+0900 [-] ^ 2020-07-13 17:09:26+0900 [-] SyntaxError: invalid syntax [ INFO] [1594627766.896708191]: Finished loading Gazebo ROS API Plugin. [ INFO] [1594627766.908319541]: Initializing nodelet with 12 worker threads. [ INFO] [1594627766.924941759]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [rosbridge_websocket-73] process has died [pid 1546, exit code 1, cmd /opt/ros/kinetic/lib/rosbridge_server/rosbridge_websocket /joint_states:=hsrb/joint_states name:=rosbridge_websocket __log:=/home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/rosbridge_websocket-73.log]. log file: /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/rosbridge_websocket-73*.log [ INFO] [1594627767.106042685]: Initialized ROS. node_name: /tabletop_segmentator /opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/training_detection_args.py:43: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. params = yaml.load(parameter_str) Scalar element defined multiple times: visual Scalar element defined multiple times: visual Unknown tag: hardwareInterface Unknown tag: hardwareInterface Unknown tag: hardwareInterface Scalar element defined multiple times: visual Scalar element defined multiple times: visual Scalar element defined multiple times: collision Unknown tag: hardwareInterface Unknown tag: hardwareInterface Unknown tag: hardwareInterface Unknown tag: hardwareInterface Unknown tag: hardwareInterface Scalar element defined multiple times: visual Unknown tag: hardwareInterface Unknown tag: hardwareInterface Unknown tag: hardwareInterface Unknown tag: hardwareInterface Unknown tag: hardwareInterface [ERROR] [1594627767.247720999]: Exception when creating the web server! 0.0.0.0:8901 terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector >' what(): bind: Address already in use [ERROR] [1594627767.248428343]: Exception when creating the web server! 0.0.0.0:8902 terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector >' what(): bind: Address already in use [INFO] [1594627767.364250, 0.000000]: change vel ratio 1.0 [web_video_server-80] process has died [pid 1592, exit code -6, cmd /opt/ros/kinetic/lib/web_video_server/web_video_server /joint_states:=hsrb/joint_states name:=web_video_server log:=/home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/web_video_server-80.log]. log file: /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/web_video_server-80*.log [web_video_server2-81] process has died [pid 1602, exit code -6, cmd /opt/ros/kinetic/lib/web_video_server/web_video_server /joint_states:=hsrb/joint_states name:=web_video_server2 log:=/home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/web_video_server2-81.log]. log file: /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/web_video_server2-81*.log [INFO] [1594627767.452725, 0.000000]: dynamics.limit:~arm_lift_joint/acceleration 0.15 [INFO] [1594627767.479225, 0.000000]: kinematics.limit:~arm_lift_joint/velocity 0.15 [INFO] [1594627767.486380, 0.000000]: Dynamic reconfigure request: 1.0, 1.0, 1.0, 1.0 [ERROR] [1594627767.494845173]: Couldn't open joystick /dev/input/js0. Will retry every second. [INFO] [1594627767.503423, 0.000000]: dynamics.limit:~arm_flex_joint/acceleration 1.0 [INFO] [1594627767.525816, 0.000000]: kinematics.limit:~arm_flex_joint/velocity 1.0 [INFO] [1594627767.549007, 0.000000]: dynamics.limit:~arm_roll_joint/acceleration 1.0 [INFO] [1594627767.554606, 0.000000]: Dynamic reconfigure request: 10000, 300, 0.02 [INFO] [1594627767.557666, 0.000000]: Dynamic reconfigure request: -5.0 [INFO] [1594627767.567289, 0.000000]: kinematics.limit:~arm_roll_joint/velocity 1.0 [INFO] [1594627767.574992, 0.000000]: Rosapi started [INFO] [1594627767.583353, 0.000000]: dynamics.limit:~wrist_roll_joint/acceleration 1.0 [INFO] [1594627767.599152, 0.000000]: kinematics.limit:~wrist_roll_joint/velocity 1.0 [INFO] [1594627767.612068, 0.000000]: dynamics.limit:~wrist_flex_joint/acceleration 1.0 [INFO] [1594627767.620675, 0.000000]: kinematics.limit:~wrist_flex_joint/velocity 1.0 [INFO] [1594627767.627613, 0.000000]: dynamics.limit:~head_pan_joint/acceleration 1.0 [INFO] [1594627767.634938, 0.000000]: kinematics.limit:~head_pan_joint/velocity 1.0 [INFO] [1594627767.644570, 0.000000]: dynamics.limit:~head_tilt_joint/acceleration 1.0 [INFO] [1594627767.657430, 0.000000]: kinematics.limit:~head_tilt_joint/velocity 1.0 [INFO] [1594627767.671428, 0.000000]: dynamics.limit:~caster/acceleration 1.8 [INFO] [1594627767.678324, 0.000000]: kinematics.limit:~caster/velocity 1.8 [INFO] [1594627767.685038, 0.000000]: dynamics.limit:~left_wheel/acceleration 5.0 [INFO] [1594627767.691399, 0.000000]: kinematics.limit:~left_wheel/velocity 8.5 [INFO] [1594627767.697683, 0.000000]: dynamics.limit:~right_wheel/acceleration 5.0 [INFO] [1594627767.704513, 0.000000]: kinematics.limit:~right_wheel/velocity 8.5 [ INFO] [1594627767.940723515]: System already initialized. node_name: /tabletop_segmentator [ INFO] [1594627767.982103029, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1594627768.082945857, 0.120000000]: Physics dynamic reconfigure ready. [INFO] [1594627768.141154, 0.178000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1594627768.224505298]: System already initialized. node_name: /tabletop_segmentator Traceback (most recent call last): File "/opt/ros/kinetic/lib/tmc_tabletop_segmentator/server", line 41, in service_server.init_ork(ork_params) File "/opt/ros/kinetic/lib/python2.7/dist-packages/tmc_tabletop_segmentator/service_server.py", line 52, in init_ork self.__plasm = create_plasm(ork_params) File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/pipelines/plasm.py", line 39, in create_plasm cell_class = find_cell([parameters['module']], parameters['type']) File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 157, in find_cell cells = find_cells(modules, base_types) File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 95, in find_cells potential_cells = find_classes(modules, []) File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 37, in find_classes m = import(module) File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_tabletop/init__.py", line 1, in from object_recognition_tabletop.ecto_cells.tabletop_table import TableDetector File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_tabletop/ecto_cells/init.py", line 1

^

SyntaxError: I/O error while reading Warning [parser_urdf.cc:1238] multiple inconsistent exists due to fixed joint reduction overwriting previous value [false] with [true]. [ INFO] [1594627768.556531521, 0.362000000]: set to: // [ INFO] [1594627768.556576821, 0.362000000]: set to: //hsrb/base_imu/data [ INFO] [1594627768.556600145, 0.362000000]: set to: /base_imu_frame [ INFO] [1594627768.556633218, 0.362000000]: set to: 50 [ INFO] [1594627768.556658074, 0.362000000]: set to: 0 [ INFO] [1594627768.556688575, 0.362000000]: set to: 0 0 0 [ INFO] [1594627768.556736086, 0.362000000]: set to: 0 -0 0 [tabletop_segmentator_node-57] process has died [pid 1270, exit code 1, cmd /opt/ros/kinetic/lib/tmc_tabletop_segmentator/server -c /opt/ros/kinetic/share/tmc_tabletop_segmentator/config/segmentation.ros.ork /joint_states:=hsrb/joint_states /camera/rgb/image_color:=hsrb/head_rgbd_sensor/rgb/image_rect_color /camera/rgb/camera_info:=hsrb/head_rgbd_sensor/rgb/camera_info /camera/depth_registered/image_raw:=hsrb/head_rgbd_sensor/depth_registered/image_rect_raw /camera/depth_registered/camera_info:=hsrb/head_rgbd_sensor/depth_registered/camera_info name:=tabletop_segmentator_node log:=/home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/tabletop_segmentator_node-57.log]. log file: /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/tabletop_segmentator_node-57.log [ INFO] [1594627768.693089997, 0.362000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1594627768.693128740, 0.362000000]: Starting Laser Plugin (ns = /) [ INFO] [1594627768.694104149, 0.362000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1594627768.889471524, 0.362000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb' [ INFO] [1594627768.892814189, 0.362000000]: Camera Plugin (ns = /hsrb) , set to "" [ INFO] [1594627768.926543673, 0.362000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb' [ INFO] [1594627768.930972163, 0.362000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb' [ INFO] [1594627768.931003839, 0.362000000]: Camera Plugin (ns = /hsrb) , set to "" [ INFO] [1594627768.932934845, 0.362000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb' [ INFO] [1594627768.938104796, 0.362000000]: Camera Plugin (ns = /hsrb) , set to "" [ INFO] [1594627768.938466717, 0.362000000]: Camera Plugin (ns = /hsrb) , set to "" [INFO] [1594627768.938731, 0.362000]: Spawn status: SpawnModel: Successfully spawned entity [INFO] [1594627768.939009, 0.362000]: Waiting for service /gazebo/set_model_configuration [ INFO] [1594627768.939104715, 0.362000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb' [INFO] [1594627768.943478, 0.362000]: temporary hack to fix the -J joint position option (issue #93), sleeping for 1 second to avoid race condition. [ INFO] [1594627768.955866203, 0.362000000]: Camera Plugin (ns = /hsrb) , set to "" [ INFO] [1594627769.110166273, 0.362000000]: ft_sensor plugin reporting wrench values to the frame [wrist_ft_sensor_frame] [ INFO] [1594627769.110219853, 0.362000000]: imu plugin missing , defaults to 0.0 [ INFO] [1594627769.311911725, 0.362000000]: Loading gazebo_ros_control plugin [ INFO] [1594627769.312022846, 0.362000000]: Starting gazebo_ros_control plugin in namespace: /hsrb [ INFO] [1594627769.312715132, 0.362000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/hsrb/robot_description] on the ROS param server. [ INFO] [1594627769.629407904, 0.362000000]: Loaded gazebo_ros_control. [ INFO] [1594627769.629524302, 0.362000000]: Loading hsrb_gazebo_ros_control plugin [INFO] [1594627769.867340, 0.527000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1594627769.875716, 0.531000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1594627769.878433, 0.532000]: Loading controller: joint_state_controller [INFO] [1594627769.899473, 0.544000]: Loading controller: arm_trajectory_controller [INFO] [1594627769.944676, 0.574000]: Calling service /gazebo/set_model_configuration [INFO] [1594627769.958343, 0.581000]: Set model configuration status: SetModelConfiguration: success [INFO] [1594627770.039574, 0.638000]: Loading controller: head_trajectory_controller [spawn_hsrb_model-2] process has finished cleanly log file: /home/kubota-lab/.ros/log/28702dbc-c4e0-11ea-999a-5076afa87c35/spawn_hsrb_model-2.log [INFO] [1594627770.185415, 0.741000]: Loading controller: omni_base_controller [ INFO] [1594627770.237592380, 0.780000000]: state_publish_rate is not set. Use default value [50.000000] [ INFO] [1594627770.241766500, 0.784000000]: action_monitor_rate is not set. Use default value [100.000000] [ INFO] [1594627770.243563626, 0.785000000]: command_timeout is not set. Use default value [0.500000] [ INFO] [1594627770.364150161, 0.864000000]: yaw_actual_velocity_threshold is not set. Use default value [1000.000000] [ INFO] [1594627770.370797406, 0.870000000]: wheel_actual_velocity_threshold is not set. Use default value [1000.000000] [INFO] [1594627770.586380, 1.028000]: Controller Spawner: Loaded controllers: joint_state_controller, arm_trajectory_controller, head_trajectory_controller, omni_base_controller [INFO] [1594627770.600477, 1.040000]: Started controllers: joint_state_controller, arm_trajectory_controller, head_trajectory_controller, omni_base_controller [ INFO] [1594627772.524740758, 2.329000000]: No goal plugins are loaded. [ INFO] [1594627772.627335575, 2.400000000]: Ready take [ INFO] [1594627772.673863223, 2.434000000]: Ready put [ INFO] [1594627775.040611715, 4.057000000]: planning time = 0.016 /opt/ros/kinetic/lib/python2.7/dist-packages/hsrb_interface/robot.py:246: DeprecationWarning: A feature specifying a resource item by ItemType is deprecated. warnings.warn(msg, exceptions.DeprecationWarning) /opt/ros/kinetic/lib/python2.7/dist-packages/hsrb_interface/robot.py:76: DeprecationWarning: A feature specifying an item by ItemType is deprecated. warnings.warn(msg, exceptions.DeprecationWarning) True [<sacx.environments.gazebohsr.GazeboHsrAction object at 0x7f9e08a18290>, <sacx.environments.gazebohsr.GazeboHsrAction object at 0x7f9e08a182d0>, <sacx.environments.gazebohsr.GazeboHsrAction object at 0x7f9e08a18310>, <sacx.environments.gazebohsr.GazeboHsrAction object at 0x7f9e08a18350>, <sacx.environments.gazebohsr.GazeboHsrAction object at 0x7f9e08a18390>, <sacx.environments.gazebohsr.GazeboHsrAction object at 0x7f9e08a183d0>, <sacx.environments.gazebohsr.GazeboHsrAction object at 0x7f9e08a18410>, <sacx.environments.gazebohsr.GazeboHsrAction object at 0x7f9e08a18450>] ('Capping trajectories at a max length of ', 89) /home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_dual_neural_net.py:39: UserWarning: Update your Model call to the Keras 2 API: Model(outputs=Elemwise{a..., inputs=/input_1) self.live_models[task] = ks.models.Model(input=inp, output=task_specific_layers(shared_live_out)) /home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_dual_neural_net.py:40: UserWarning: Update your Model call to the Keras 2 API: Model(outputs=Elemwise{a..., inputs=/input_1) self.fixed_models[task] = ks.models.Model(input=inp, output=task_specific_layers(shared_fixed_out)) /home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_dual_neural_net.py:39: UserWarning: Update your Model call to the Keras 2 API: Model(outputs=Softmax.0, inputs=/input_2) self.live_models[task] = ks.models.Model(input=inp, output=task_specific_layers(shared_live_out)) /home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_dual_neural_net.py:40: UserWarning: Update your Model call to the Keras 2 API: Model(outputs=Softmax.0, inputs=/input_2) self.fixed_models[task] = ks.models.Model(input=inp, output=task_specific_layers(shared_fixed_out)) Traceback (most recent call last): File "gazebohsr_sacx.py", line 40, in entropy_regularization=0.005, alpha=0.0001, fixed_steps=100) File "/home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_p_network.py", line 61, in init tasks File "/home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_dual_neural_net.py", line 31, in init self.init_models(shared_layers, task_specific_layers) File "/home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_dual_neural_net.py", line 41, in init_models self.compile_function(self.live_models[task]) File "/home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_p_network.py", line 60, in lambda model: model.compile(optimizer=ks.optimizers.Adam(alpha, clipnorm=1.0), loss=make_policy_loss(entropy_regularization)), File "/home/kubota-lab/.local/lib/python2.7/site-packages/keras/engine/training.py", line 830, in compile sample_weight, mask) File "/home/kubota-lab/.local/lib/python2.7/site-packages/keras/engine/training.py", line 429, in weighted score_array = fn(y_true, y_pred) File "/home/kubota-lab/gym-gazebo-hsr/sacq-hsr/sacx/tasked_p_network.py", line 17, in policy_loss loss = -tf.reduce_mean(tf.reduce_sum(policy (q_values - entropy_regularization tf.log(policy)), axis=1)) File "/home/kubota-lab/anaconda3/envs/hsrbgym/lib/python2.7/site-packages/tensorflow/python/ops/gen_math_ops.py", line 2326, in log "Log", x=x, name=name) File "/home/kubota-lab/anaconda3/envs/hsrbgym/lib/python2.7/site-packages/tensorflow/python/framework/op_def_library.py", line 513, in _apply_op_helper raise err TypeError: Failed to convert object of type <class 'theano.tensor.var.TensorVariable'> to Tensor. Contents: Softmax.0. Consider casting elements to a supported type.

yani-rl-ai commented 4 years ago

@ascane can you help me to solve this problem?