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huggingface / lerobot

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning
Apache License 2.0
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how to use on wslcan not visulize #238

Open jackylee1 opened 3 months ago

jackylee1 commented 3 months ago

how to use on wslcan not visulize

Cadene commented 3 months ago

Hello @jackylee1, Really sorry but we didnt understand your message! Please edit your issue or we might close it in a few days :/ Best regards

jackylee1 commented 3 months ago

ptr = ctx.call(mujoco.MjrContext, model.ptr, font_scale) File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/dm_control/_render/executor/render_executor.py", line 138, in call return func(*args, **kwargs) mujoco.FatalError: an OpenGL platform library has not been loaded into this process, this most likely means that a valid OpenGL context has not been created before mjr_makeContext was called

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.

Cadene commented 3 months ago

@jackylee1 We provide pointers to the library that you need to install with apt-get (on Linux/Ubuntu) to make mujoco work with OpenGL.

https://github.com/huggingface/lerobot/blob/main/docker/lerobot-gpu-dev/Dockerfile#L8-L40

Run:

apt-get update && apt-get install -y --no-install-recommends \
    build-essential cmake \
    git git-lfs openssh-client \
    nano vim less util-linux \
    htop atop nvtop \
    sed gawk grep curl wget \
    tcpdump sysstat screen tmux \
    libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg

Add this to your bashrc

export MUJOCO_GL="egl"

Let me know if it was useful.

Cadene commented 3 months ago

@aliberts Should we add this in the README? I only see sudo apt-get install cmake build-essential

jackylee1 commented 3 months ago

raise ImportError('Cannot initialize a headless EGL display.') ImportError: Cannot initialize a headless EGL display. still shows error

jackylee1 commented 3 months ago

please,how to run the docker images ,

aliberts commented 3 months ago

Hi, yes you need to export MUJOCO_GL=egl (no quotes) or simply prepend your python command with MUJOCO_GL=egl

We were thinking of a better way of handling in #55 this but I haven't found a way to ensure it's working on any platform for now. Leaving this to the user is probably best for now.

jackylee1 commented 3 months ago

Found the latest cached dataset configuration 'default' at /root/.cache/huggingface/datasets/lerobot_aloha_sim_insertionhuman/default/0.0.0/3cdeec058acd3e3583e9c22c24e6c3338b8cd712 (last modified on Sat Jun 1 22:24:10 2024). WARNING 2024-06-07 14:09:17 che/cache.py:95 Found the latest cached dataset configuration 'default' at /root/.cache/huggingface/datasets/lerobotaloha_sim_insertion_human/default/0.0.0/3cdeec058acd3e3583e9c22c24e6c3338b8cd712 (last modified on Sat Jun 1 22:24:10 2024).

INFO 2024-06-07 14:31:02 ts/train.py:294 make_env INFO 2024-06-07 14:31:02 /init.py:84 MUJOCO_GL=%s, attempting to import specified OpenGL backend. INFO 2024-06-07 14:31:02 pesloader.py:70 Failed to load library ( %r ): %s INFO 2024-06-07 14:31:02 pesloader.py:70 Failed to load library ( %r ): %s INFO 2024-06-07 14:31:02 tesupport.py:23 No OpenGL_accelerate module loaded: %s Error executing job with overrides: ['policy=act', 'env=aloha', 'env.task=AlohaInsertion-v0', 'dataset_repo_id=lerobot/aloha_sim_insertion_human'] Traceback (most recent call last): File "/opt/lerobot/lerobot/scripts/train.py", line 415, in train_cli train( File "/opt/lerobot/lerobot/scripts/train.py", line 295, in train eval_env = make_env(cfg) File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/common/envs/factory.py", line 48, in make_env env = env_cls( File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/gymnasium/vector/sync_vector_env.py", line 53, in init self.envs = [env_fn() for env_fn in env_fns] File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/gymnasium/vector/sync_vector_env.py", line 53, in self.envs = [env_fn() for env_fn in env_fns] File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/common/envs/factory.py", line 50, in lambda: gym.make(gym_handle, disable_env_checker=True, *gym_kwgs) File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 756, in make env_creator = load_env_creator(env_spec.entry_point) File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 545, in load_env_creator mod = importlib.import_module(mod_name) File "/root/anaconda3/envs/lerobot/lib/python3.10/importlib/init.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "", line 1050, in _gcd_import File "", line 1027, in _find_and_load File "", line 1006, in _find_and_load_unlocked File "", line 688, in _load_unlocked File "", line 883, in exec_module File "", line 241, in _call_with_frames_removed File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/gym_aloha/env.py", line 3, in from dm_control import mujoco File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/dm_control/mujoco/init.py", line 18, in from dm_control.mujoco.engine import action_spec File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/dm_control/mujoco/engine.py", line 41, in from dm_control import _render File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/dm_control/_render/init.py", line 86, in Renderer = import_func() File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/dm_control/_render/init.py", line 36, in _import_egl from dm_control._render.pyopengl.egl_renderer import EGLContext File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/dm_control/_render/pyopengl/egl_renderer.py", line 39, in from dm_control._render.pyopengl import egl_ext as EGL File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/dm_control/_render/pyopengl/egl_ext.py", line 29, in from OpenGL import EGL File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/OpenGL/EGL/init.py", line 2, in from OpenGL.raw.EGL._types import File "/root/anaconda3/envs/lerobot/lib/python3.10/site-packages/OpenGL/raw/EGL/_types.py", line 87, in raw_eglQueryString = _p.PLATFORM.EGL.eglQueryString AttributeError: 'NoneType' object has no attribute 'eglQueryString'

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.

still shows error

aliberts commented 3 months ago

Can you please provide me with more context?

What's your system? (OS, hardware, etc.) You can use this script for that:

python lerobot/scripts/display_sys_info.py

Are you using a docker image, and if so which one? Also can you tell what command are you trying to run?

jackylee1 commented 3 months ago

i am on wsl

(lerobot) root@MS-TGCPQOCCPPUG:/opt/lerobot# python lerobot/scripts/display_sys_info.py

Copy-and-paste the text below in your GitHub issue and FILL OUT the two last points.

(lerobot) root@MS-TGCPQOCCPPUG:/opt/lerobot#

aliberts commented 3 months ago

Can you run try to the gpu docker image?

docker run -ti --gpus all --shm-size "16gb" huggingface/lerobot-gpu:latest

Then inside it:

DATA_DIR=tests/data pytest -v tests/
jackylee1 commented 3 months ago

PS D:> cd D:\Ubuntu_WSL PS D:\Ubuntu_WSL> cd lerobotdocker PS D:\Ubuntu_WSL\lerobotdocker> docker run -ti --gpus all --shm-size "16gb" huggingface/lerobot-gpu:latest docker: error during connect: in the default daemon configuration on Windows, the docker client must be run with elevated privileges to connect: Head "http://%2F%2F.%2Fpipe%2Fdocker_engine/_ping": open //./pipe/docker_engine: The system cannot find the file specified. See 'docker run --help'. PS D:\Ubuntu_WSL\lerobotdocker> PS D:\Ubuntu_WSL\lerobotdocker> docker run -ti --gpus all --shm-size "16gb" huggingface/lerobot-gpu:latest Unable to find image 'huggingface/lerobot-gpu:latest' locally latest: Pulling from huggingface/lerobot-gpu 3c645031de29: Already exists 0d6448aff889: Already exists 0a7674e3e8fe: Already exists b71b637b97c5: Already exists 56dc85502937: Already exists 4d51d73ad7c8: Pull complete b9348706a1f3: Pull complete ed20b7cce72b: Pull complete 0a8fab373494: Pull complete a2fa069f3555: Pull complete 4f4fb700ef54: Pull complete 20f46d2e78b1: Pull complete f569dc9eb6fe: Pull complete Digest: sha256:08f6064c5b7d188de409bf82755be99d51b8062de60c8a0d88cf050bad744698 Status: Downloaded newer image for huggingface/lerobot-gpu:latest docker: Error response from daemon: failed to create task for container: failed to create shim task: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error running hook #0: error running hook: exit status 1, stdout: , stderr: Auto-detected mode as 'legacy' nvidia-container-cli: requirement error: unsatisfied condition: cuda>=12.4, please update your driver to a newer version, or use an earlier cuda container: unknown. PS D:\Ubuntu_WSL\lerobotdocker>

aliberts commented 3 months ago

Can you build the Dockerfile with your cuda version?

- FROM nvidia/cuda:12.4.1-base-ubuntu22.04
+ FROM nvidia/cuda:12.1.0-base-ubuntu22.04
jackylee1 commented 3 months ago

PS D:\Ubuntu_WSL\perplexicadocker\lerobot-main\docker\lerobot-gpu> docker build -t lerobotcuda12.1.0 . [+] Building 259.3s (13/13) FINISHED docker:default => [internal] load build definition from Dockerfile 0.0s => => transferring dockerfile: 874B 0.0s => [internal] load metadata for docker.io/nvidia/cuda:12.4.1-base-ubuntu22.04 4.6s => [internal] load .dockerignore 0.0s => => transferring context: 2B 0.0s => [1/9] FROM docker.io/nvidia/cuda:12.4.1-base-ubuntu22.04@sha256:0f6bfcbf267e65123bcc2287e2153dedfc0f24772fb5c 0.1s => => resolve docker.io/nvidia/cuda:12.4.1-base-ubuntu22.04@sha256:0f6bfcbf267e65123bcc2287e2153dedfc0f24772fb5c 0.0s => => sha256:8767a245ed2c481eb245d8f6c625accc3788e1fb8612403d6b4cd4645a4f09c7 1.37kB / 1.37kB 0.0s => => sha256:ca14dc8401b66a20e1ca678268250834c5c66ac3f458dd570088bb681444ffc0 9.44kB / 9.44kB 0.0s => => sha256:0f6bfcbf267e65123bcc2287e2153dedfc0f24772fb5ce84afe16ac4b2fada95 743B / 743B 0.0s => [internal] load build context 0.0s => => transferring context: 874B 0.0s => [2/9] RUN apt-get update && apt-get install -y --no-install-recommends build-essential cmake libgli 245.7s => [3/9] RUN ln -s /usr/bin/python3.10 /usr/bin/python 0.3s => [4/9] RUN python -m venv /opt/venv 2.2s => [5/9] RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc 0.5s => [6/9] COPY . /lerobot 0.0s => [7/9] WORKDIR /lerobot 0.0s => [8/9] RUN pip install --upgrade --no-cache-dir pip 4.4s => ERROR [9/9] RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]" 1.5s

[9/9] RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]": 0.532 ERROR: Directory '.[test, aloha, xarm, pusht]' is not installable. Neither 'setup.py' nor 'pyproject.toml' found.

Dockerfile:26

24 | WORKDIR /lerobot 25 | RUN pip install --upgrade --no-cache-dir pip 26 | >>> RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]" 27 | 28 | # Set EGL as the rendering backend for MuJoCo

ERROR: failed to solve: process "/bin/sh -c pip install --no-cache-dir \".[test, aloha, xarm, pusht]\"" did not complete successfully: exit code: 1

View build details: docker-desktop://dashboard/build/default/default/hynlno8fd4yum8kwrg4168u7c

aliberts commented 3 months ago

Directory '.[test, aloha, xarm, pusht]' is not installable. Neither 'setup.py' nor 'pyproject.toml' found.

Yes, you need to build from the root directory of this repo (because of COPY . /lerobot)

jackylee1 commented 2 months ago

still shows error