facebookresearch/home-robot

Issue with running Habitat OVMM

ramkumarkoppu opened this issue · 4 comments

ramkumarkoppu commented

🐛 Bug

Issue with running Habitat OVMM demo

Steps to Reproduce

Steps to reproduce the behavior:

when I run
python projects/habitat_ovmm/eval_baselines_agent.py --env_config projects/habitat_ovmm/configs/env/hssd_demo.yaml provided in the https://github.com/facebookresearch/home-robot/blob/main/projects/habitat_ovmm/README.md, after having the issue #476

I got the following error:
pybullet build time: Nov 28 2023 23:52:03 Traceback (most recent call last): File "/home/ram/repos/home-robot/projects/habitat_ovmm/eval_baselines_agent.py", line 10, in <module> from evaluator import OVMMEvaluator File "/home/ram/repos/home-robot/projects/habitat_ovmm/evaluator.py", line 18, in <module> from utils.env_utils import create_ovmm_env_fn File "/home/ram/repos/home-robot/projects/habitat_ovmm/utils/env_utils.py", line 13, in <module> from home_robot_sim.env.habitat_ovmm_env.habitat_ovmm_env import ( File "/home/ram/repos/home-robot/src/home_robot_sim/home_robot_sim/env/habitat_ovmm_env/habitat_ovmm_env.py", line 35, in <module> from home_robot_sim.env.habitat_objectnav_env.visualizer import Visualizer File "/home/ram/repos/home-robot/src/home_robot_sim/home_robot_sim/env/habitat_objectnav_env/visualizer.py", line 19, in <module> from home_robot.mapping.instance.instance_map import InstanceMemory File "/home/ram/repos/home-robot/src/home_robot/home_robot/mapping/__init__.py", line 5, in <module> from .voxel import SparseVoxelMap, SparseVoxelMapNavigationSpace File "/home/ram/repos/home-robot/src/home_robot/home_robot/mapping/voxel/__init__.py", line 7, in <module> from .voxel_map import SparseVoxelMapNavigationSpace File "/home/ram/repos/home-robot/src/home_robot/home_robot/mapping/voxel/voxel_map.py", line 17, in <module> from home_robot.utils.geometry import angle_difference, interpolate_angles File "/home/ram/repos/home-robot/src/home_robot/home_robot/utils/geometry/__init__.py", line 7, in <module> from ._base import * File "/home/ram/repos/home-robot/src/home_robot/home_robot/utils/geometry/_base.py", line 49, in <module> def xyt2sophus(xyt: np.ndarray) -> sp.SE3: AttributeError: module 'sophus' has no attribute 'SE3'

my python env, got this:
conda list | grep -i sophus sophus 23.0.1 pypi_0 pypi sophuspy 1.2.0 pypi_0 pypi

Expected behavior

demo should be running without any errors

Additional context

yvsriram commented

We previously had 0.0.8 version installed. It seems like the library got updated recently. Can you please try updating your sophuspy version to 0.0.8: pip install sophuspy==0.0.8? Please let us know if you run into any other issues.

yvsriram commented

The issue should be resolved. Feel free to reopen if the issue persists.

Rongtao-Xu commented

My sophuspy is 0.0.8 , But still get the error:
home_robot/utils/geometry/_base.py", line 49, in
def xyt2sophus(xyt: np.ndarray) -> sp.SE3:
AttributeError: module 'sophus' has no attribute 'SE3'
Please tell me if you can solve it?

aliciaji1993 commented

My sophuspy is 0.0.8 , But still get the error: home_robot/utils/geometry/_base.py", line 49, in def xyt2sophus(xyt: np.ndarray) -> sp.SE3: AttributeError: module 'sophus' has no attribute 'SE3' Please tell me if you can solve it?

instead of "import sophus as sp", use "import sophuspy as sp"