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real-stanford / universal_manipulation_interface

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
https://umi-gripper.github.io/
MIT License
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Is there something I missed? Failed to run slam. #51

Open Kimagure7 opened 1 week ago

Kimagure7 commented 1 week ago

I was trying to run python run_slam_pipeline.py example_demo_session after i download example data. And an error occurred:

(umi) zhaozy@rykj-002:~/ZoeyChiu/universal_manipulation_interface$ python run_slam_pipeline.py example_demo_session

############## 00_process_videos ############# Traceback (most recent call last): File "/home/zhaozy/ZoeyChiu/universal_manipulation_interface/scripts_slam_pipeline/00_process_videos.py", line 122, in main() File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1157, in call return self.main(args, kwargs) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1078, in main rv = self.invoke(ctx) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1434, in invoke return ctx.invoke(self.callback, ctx.params) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 783, in invoke return __callback(args, kwargs) File "/home/zhaozy/ZoeyChiu/universal_manipulation_interface/scripts_slam_pipeline/00_process_videos.py", line 31, in main input_dir.mkdir() File "/data/zhaozy/conda/envs/umi/lib/python3.9/pathlib.py", line 1323, in mkdir self._accessor.mkdir(self, mode) FileNotFoundError: [Errno 2] No such file or directory: '/home/zhaozy/ZoeyChiu/example_demo_session/raw_videos' Traceback (most recent call last): File "/home/zhaozy/ZoeyChiu/universal_manipulation_interface/run_slam_pipeline.py", line 120, in main() File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1157, in call return self.main(args, kwargs) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1078, in main rv = self.invoke(ctx) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1434, in invoke return ctx.invoke(self.callback, ctx.params) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 783, in invoke return __callback(args, kwargs) File "/home/zhaozy/ZoeyChiu/universal_manipulation_interface/run_slam_pipeline.py", line 41, in main assert result.returncode == 0 AssertionError

What should I do?

Kimagure7 commented 1 week ago

(umi) zhaozy@rykj-002:~/ZoeyChiu/universal_manipulation_interface/example_demo_session$ ls GX010213.MP4 GX010214.MP4 GX010215.MP4 GX010232.MP4 GX010234.MP4 GX010236.MP4 GX010238.MP4

ubuntu20.04 I didn't run this code in docker. Is it the reason?

Kimagure7 commented 6 days ago

After I take the example_demo_sessions folder to the parent folder ( at the same level directory as the umi folder).The error is: (umi) zhaozy@rykj-002:~/ZoeyChiu/universal_manipulation_interface$ python run_slam_pipeline.py example_demo_session ############## 00_process_videos ############# Traceback (most recent call last): File "/home/zhaozy/ZoeyChiu/universal_manipulation_interface/scripts_slam_pipeline/00_process_videos.py", line 122, in main() File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1157, in call return self.main(args, kwargs) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1078, in main rv = self.invoke(ctx) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1434, in invoke return ctx.invoke(self.callback, ctx.params) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 783, in invoke return __callback(args, kwargs) File "/home/zhaozy/ZoeyChiu/universal_manipulation_interface/scripts_slam_pipeline/00_process_videos.py", line 47, in main shutil.move(max_path, mapping_vid_path) File "/data/zhaozy/conda/envs/umi/lib/python3.9/shutil.py", line 825, in move os.rename(src, real_dst) TypeError: rename: src should be string, bytes or os.PathLike, not NoneType Traceback (most recent call last): File "/home/zhaozy/ZoeyChiu/universal_manipulation_interface/run_slam_pipeline.py", line 120, in main() File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1157, in call return self.main(args, kwargs) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1078, in main rv = self.invoke(ctx) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 1434, in invoke return ctx.invoke(self.callback, ctx.params) File "/data/zhaozy/conda/envs/umi/lib/python3.9/site-packages/click/core.py", line 783, in invoke return __callback(args, kwargs) File "/home/zhaozy/ZoeyChiu/universal_manipulation_interface/run_slam_pipeline.py", line 41, in main assert result.returncode == 0 AssertionError

Kimagure7 commented 6 days ago

I have solved it. You need to put all the mp4 into example_demo_session/raw_videos and make sure example_demo_session folder is at the same level directory as the umi folder. This is not mentioned in the readme.md.You should update it.

btw, docker is needed. In 02, code will pull a docker image

Kimagure7 commented 6 days ago

however,in python scripts_slam_pipeline/07_generate_replay_buffer.py -o example_demo_session/dataset.zarr.zip example_demo_session example_demo_session is in the umi folder .........