How to record camera datasets? #58
Description
First thank you for the great device to teleoperate roboticarms.
I managed to record a dataset for ur5 according to the tutorial by using: python experiments/run_env.py --agent=gello --use-save-interface,
then, when I come to the Process collected data prompt:
It raises error:
(gello_software) xbt@xbt:~/gello_software$ python gello/data_utils/demo_to_gdict.py --source-dir=/home/xbt/bc_data/gello/
Computing scale factors
t: 1: 100%|███████████████████████████████████████████████████████████████████████████| 2/2 [00:00<00:00, 10.48it/s]
min_scale_factor: [-1.124 -1.569 1.236 -2.069 -1.921 -0.805 0. ], max_scale_factor: [ 0.043 -1.284 1.47 -1.232 -1.52 -0.172 0. ]
scale factors: [0.584 0.143 0.117 0.419 0.2 0.317 0. ]
bias factor: [-0.541 -1.427 1.353 -1.651 -1.72 -0.489 0. ]
scale_factor = np.array([0.5836720198865472, 0.14266021327336453, 0.11657486997536937, 0.4187767550926249, 0.20018449281085693, 0.31676695599934557, 6.974748883903065e-07])
bias_factor = np.array([-0.5407205578257491, -1.4266021327336462, 1.3529787248190748, -1.6505633277647964, -1.7203594536055273, -0.4885728042425377, 6.974748883903065e-07])
0%| | 0/2 [00:00<?, ?it/s]
Traceback (most recent call last):
File "/home/xbt/gello_software/gello/data_utils/demo_to_gdict.py", line 349, in
main(tyro.cli(Args))
File "/home/xbt/gello_software/gello/data_utils/demo_to_gdict.py", line 305, in main
ret = convert_single_demo(
^^^^^^^^^^^^^^^^^^^^
File "/home/xbt/gello_software/gello/data_utils/demo_to_gdict.py", line 127, in convert_single_demo
obs = preproc_obs(demo)
^^^^^^^^^^^^^^^^^
File "/home/xbt/gello_software/gello/data_utils/conversion_utils.py", line 60, in preproc_obs
rgb_wrist = demo.get(f"wrist_rgb").transpose([2, 0, 1]) * 1.0 # type: ignore
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'NoneType' object has no attribute 'transpose'
I assume that the camera dataset is needed.
And when I used the command prompt:python gello/cameras/camera.py nothing happend
How do I record the camera dataset?