Closed paucarre closed 1 year ago
thomasweng15
commented
1 year ago Hi @paucarre , it seems like an extra file was present in the acronym_perobj dataset, can you delete acronym_perobj/meshes_bullet/Bottle_244894af3ba967ccd957eaf7f4edb205_0.012953570261294404 and try again? I have removed the file from the Google Drive as well.
paucarre
commented
1 year ago Hi @thomasweng15 I deleted that file but I still get the error: Error output :
pybullet build time: May 20 2022 19:44:17
/home/ros/miniconda3/envs/ngdf/lib/python3.8/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'panda_scene': Defaults list is missing `_self_`. See https://hydra.cc/docs/upgrades/1.0_to_1.1/default_composition_order for more information
warnings.warn(msg, UserWarning)
ffmpeg version 4.2.7-0ubuntu0.1 Copyright (c) 2000-2022 the FFmpeg developers
built with gcc 9 (Ubuntu 9.4.0-1ubuntu1~20.04.1)
configuration: --prefix=/usr --extra-version=0ubuntu0.1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --arch=amd64 --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-nvenc --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
libavutil 56. 31.100 / 56. 31.100
libavcodec 58. 54.100 / 58. 54.100
libavformat 58. 29.100 / 58. 29.100
libavdevice 58. 8.100 / 58. 8.100
libavfilter 7. 57.100 / 7. 57.100
libavresample 4. 0. 0 / 4. 0. 0
libswscale 5. 5.100 / 5. 5.100
libswresample 3. 5.100 / 3. 5.100
libpostproc 55. 5.100 / 55. 5.100
Input #0, avi, from '/home/ros/NGDF/data/pybullet_eval/perobj_reach_grasp/NGDF_grasp1k_smth0.01_obs0.1_2023-01-06_102511/videos/Bowl_9a52843cc89cd208362be90aaa182ec6_0.0008104428339208306_0.avi':
Metadata:
encoder : Lavf58.76.100
Duration: N/A, start: 0.000000, bitrate: N/A
Stream #0:0: Video: mjpeg (Baseline) (MJPG / 0x47504A4D), yuvj420p(pc, bt470bg/unknown/unknown), 640x480, 10 fps, 10 tbr, 10 tbn, 10 tbc
Stream mapping:
Stream #0:0 -> #0:0 (mjpeg (native) -> gif (native))
Press [q] to stop, [?] for help
[swscaler @ 0x55aaaa75b2c0] deprecated pixel format used, make sure you did set range correctly
Output #0, gif, to '/home/ros/NGDF/data/pybullet_eval/perobj_reach_grasp/NGDF_grasp1k_smth0.01_obs0.1_2023-01-06_102511/gifs/Bowl_9a52843cc89cd208362be90aaa182ec6_0.0008104428339208306_0.gif':
Metadata:
encoder : Lavf58.29.100
Stream #0:0: Video: gif, pal8, 320x240, q=2-31, 200 kb/s, 10 fps, 100 tbn, 10 tbc
Metadata:
encoder : Lavc58.54.100 gif
[mjpeg @ 0x55aaaa714000] overread 8
[mjpeg @ 0x55aaaa714000] EOI missing, emulating
[Parsed_palettegen_3 @ 0x55aaaa755700] 255(+1) colors generated out of 2980 colors; ratio=0.085570
[Parsed_palettegen_3 @ 0x55aaaa755700] Dupped color: FF979699
[Parsed_palettegen_3 @ 0x55aaaa755700] Dupped color: FF9C9A9C
[Parsed_palettegen_3 @ 0x55aaaa755700] Dupped color: FFA6A4A6
[Parsed_palettegen_3 @ 0x55aaaa755700] Dupped color: FFEFEDEF
[Parsed_palettegen_3 @ 0x55aaaa755700] Dupped color: FFF2F0F2
frame= 48 fps=0.0 q=-0.0 Lsize= 254kB time=00:00:04.71 bitrate= 441.3kbits/s speed=28.5x
video:254kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: 0.007698%
Unknown tag "contact" in /robot[@name='panda']/link[@name='panda_leftfinger']
Unknown tag "contact" in /robot[@name='panda']/link[@name='panda_rightfinger']
Unknown tag "contact" in /robot[@name='panda']/link[@name='panda_leftfinger']
Unknown tag "contact" in /robot[@name='panda']/link[@name='panda_rightfinger']
Error executing job with overrides: ['render=False', 'experiment=perobj_reach_grasp', 'eval=1obj_float_rotpos_nograv', 'variant=NGDF_grasp1k_smth0.01_obs0.1', 'dataset=acronym_perobj', 'data_root=/home/ros/NGDF/scripts/eval/reach_and_grasp/../../../data', 'project_root=/home/ros/NGDF/scripts/eval/reach_and_grasp/../../..']
Traceback (most recent call last):
File "/home/ros/NGDF/OMG-Planner/omg_bullet/panda_scene.py", line 123, in main
info = planning_scene.step(category=category, pc_dict=pc_dict, viz_env=env)
File "/home/ros/NGDF/OMG-Planner/omg/core.py", line 565, in step
plan = self.planner.plan(
File "/home/ros/NGDF/OMG-Planner/omg/planner.py", line 822, in plan
shape_code, mean_pc = self.grasp_predictor.get_shape_code(
File "/home/ros/NGDF/OMG-Planner/omg/../omg_bullet/methods/ngdf_pred.py", line 86, in get_shape_code
latent = self.models[category].shape_model.extract_latent(shape_mi)
KeyError: 'Book'
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.Standard Output:
Evaluating NGDF...
Setting up env...
env init time: 0.145
LOADING panda/panda_gripper.urdf
Processing link panda_link1
Processing joint panda_joint1 of link panda_link1
Processing link panda_link2
Processing joint panda_joint2 of link panda_link2
Processing link panda_link3
Processing joint panda_joint3 of link panda_link3
Processing link panda_link4
Processing joint panda_joint4 of link panda_link4
Processing link panda_link5
Processing joint panda_joint5 of link panda_link5
Processing link panda_link6
Processing joint panda_joint6 of link panda_link6
Processing link panda_link7
Processing joint panda_joint7 of link panda_link7
Processing link panda_virtual_ee_link
Processing joint panda_virtual_ee_joint of link panda_virtual_ee_link
Processing link panda_link1
Processing joint panda_joint1 of link panda_link1
Processing link panda_link2
Processing joint panda_joint2 of link panda_link2
Processing link panda_link3
Processing joint panda_joint3 of link panda_link3
Processing link panda_link4
Processing joint panda_joint4 of link panda_link4
Processing link panda_link5
Processing joint panda_joint5 of link panda_link5
Processing link panda_link6
Processing joint panda_joint6 of link panda_link6
Processing link panda_link7
Processing joint panda_joint7 of link panda_link7
Processing link panda_link8
Processing joint panda_joint8 of link panda_link8
Processing link panda_hand
Processing joint panda_hand_joint of link panda_hand
Processing link panda_leftfinger
Processing joint panda_finger_joint1 of link panda_leftfinger
Processing link panda_rightfinger
Processing joint panda_finger_joint2 of link panda_rightfinger
Processing link panda_virtual_ee_link
Processing joint panda_virtual_ee_joint of link panda_virtual_ee_link
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planning time: 38.678 PLAN Length: 30
executing...
Setting up env...
env init time: 0.159
LOADING panda/panda_gripper.urdf
Processing link panda_link1
Processing joint panda_joint1 of link panda_link1
Processing link panda_link2
Processing joint panda_joint2 of link panda_link2
Processing link panda_link3
Processing joint panda_joint3 of link panda_link3
Processing link panda_link4
Processing joint panda_joint4 of link panda_link4
Processing link panda_link5
Processing joint panda_joint5 of link panda_link5
Processing link panda_link6
Processing joint panda_joint6 of link panda_link6
Processing link panda_link7
Processing joint panda_joint7 of link panda_link7
Processing link panda_virtual_ee_link
Processing joint panda_virtual_ee_joint of link panda_virtual_ee_link
Processing link panda_link1
Processing joint panda_joint1 of link panda_link1
Processing link panda_link2
Processing joint panda_joint2 of link panda_link2
Processing link panda_link3
Processing joint panda_joint3 of link panda_link3
Processing link panda_link4
Processing joint panda_joint4 of link panda_link4
Processing link panda_link5
Processing joint panda_joint5 of link panda_link5
Processing link panda_link6
Processing joint panda_joint6 of link panda_link6
Processing link panda_link7
Processing joint panda_joint7 of link panda_link7
Processing link panda_link8
Processing joint panda_joint8 of link panda_link8
Processing link panda_hand
Processing joint panda_hand_joint of link panda_hand
Processing link panda_leftfinger
Processing joint panda_finger_joint1 of link panda_leftfinger
Processing link panda_rightfinger
Processing joint panda_finger_joint2 of link panda_rightfinger
Processing link panda_virtual_ee_link
Processing joint panda_virtual_ee_joint of link panda_virtual_ee_link
Can you check if you've pulled the latest code and/or redownload the dataset? I was able to run the script with the latest commit (40d17b7d4dd512c3fcd1d3e0ce0d7bb3b2f6724d) as well as an earlier commit (782864150219bfc664cc867f8bd65c75ffeab2e4), with a previously downloaded acronym_perobj dataset and a newly downloaded one.
paucarre
commented
1 year ago Unofrtunately I still get the same error.
Just in case this helps, I can't see any change in the scripts/eval/reach_and_grasp/perobj.sh script in any of these two commits. I can see changes in scripts/eval/grasp_level_set/perobj.sh but not in scripts/eval/reach_and_grasp/perobj.sh.
Unrelated to this issue, but getting ready for more contributions, I was wondering if you'd have time to look at CR5 robot PR
thomasweng15
commented
1 year ago Hi Pau, the fix for me was just to delete the file locally and on the Google Drive, there were no code changes involved. I tested the the most recent code and an older commit just in case. I confirmed that I ran the reach_and_grasp and not the grasp_level_set script.
Yes, I'll take a look at the CR5 robot PR, thank you!
paucarre
commented
1 year ago I finally fixed it by removing the file Book_b1611143b4da5c783143cfc9128d0843_0.023835858278933857 . I guess that is removed from the Google Drive, I for some reason had it.
Running
For the first script launch
I get the following error