google-research / tensor2robot Goto Github PK

Distributed machine learning infrastructure for large-scale robotics research

Home Page: https://ai.google/research/teams/brain/robotics/

License: Apache License 2.0

Python 100.00%

tensor2robot's Issues

ModuleNotFoundError: No module named 'gin'

ModuleNotFoundError: No module named 'gin'
(google_RT1) robot@robot-System-Product-Name:~/ref$ python -m tensor2robot.research.pose_env.pose_env_test
Traceback (most recent call last):
File "/home/robot/anaconda3/envs/pytorch1.6/lib/python3.8/runpy.py", line 194, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/home/robot/anaconda3/envs/pytorch1.6/lib/python3.8/runpy.py", line 87, in _run_code
exec(code, run_globals)
File "/home/robot/ref/tensor2robot/research/pose_env/pose_env_test.py", line 21, in
from tensor2robot.research.pose_env import pose_env
File "/home/robot/ref/tensor2robot/research/pose_env/pose_env.py", line 19, in
import gin
ModuleNotFoundError: No module named 'gin'

Error running `pose_env_models_test`

In the last step of instructions provided in README, I ran:

python -m tensor2robot.research.pose_env.pose_env_models_test

However, all the tests failed with a similar error:

NameError: name 'guzzler_use_compression' is not defined

Sample stack trace:

Traceback (most recent call last):
  File "/home/daniel/Documents/github/tensor2robot/research/pose_env/pose_env_models_test.py", line 75, in test_mc
    create_exporters_fn=None)
  File "/home/daniel/anaconda3/envs/robotics-transformer/lib/python3.7/site-packages/gin/config.py", line 1605, in gin_wrapper
    utils.augment_exception_message_and_reraise(e, err_str)
  File "/home/daniel/anaconda3/envs/robotics-transformer/lib/python3.7/site-packages/gin/utils.py", line 41, in augment_exception_message_and_reraise
    raise proxy.with_traceback(exception.__traceback__) from None
  File "/home/daniel/anaconda3/envs/robotics-transformer/lib/python3.7/site-packages/gin/config.py", line 1582, in gin_wrapper
    return fn(*new_args, **new_kwargs)
  File "/home/daniel/Documents/github/tensor2robot/utils/train_eval.py", line 492, in train_eval_model
    mode=tf_estimator.ModeKeys.TRAIN,
  File "/home/daniel/Documents/github/tensor2robot/utils/train_eval.py", line 120, in provide_input_generator_with_model_information
    tf.logging.info('guzzler_use_compression %s', str(guzzler_use_compression))
NameError: name 'guzzler_use_compression' is not defined
  In call to configurable 'train_eval_model' (<function train_eval_model at 0x7f517c47e680>)

Library versions:

tensorflow==1.15.5
tensorflow-probability==0.7
tensorflow-agents==0.3
gin-config==0.5

The variable in t2r_test_fixture.py

When I modified the _MAX_TRAIN_STEPS to 20 and run:
It output an error

But I really see the message. Indeed them sure be saved in the path.

Have any ideal? thank you

pose_env.pose_env_models_test failed

Hi t2r team,

Thanks for open sourcing this project. Here is one bug I observe: 3 tests in PoseEnvModelsTest failed (test_regression_maml_policy_interface, test_train_eval_gin('run_train_reg.gin'), test_train_eval_gin('run_train_reg_maml.gin')) with the following same error:

ERROR: test_regression_maml_policy_interface (__main__.PoseEnvModelsTest)
test_regression_maml_policy_interface (__main__.PoseEnvModelsTest)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/home/francis/code/Research/tensor2robot/research/pose_env/pose_env_models_test.py", line 122, in test_regression_maml_policy_interface
    predictor = checkpoint_predictor.CheckpointPredictor(t2r_model=t2r_model)
  File "/home/francis/venv/lib/python3.5/site-packages/gin/config.py", line 1078, in gin_wrapper
    utils.augment_exception_message_and_reraise(e, err_str)
  File "/home/francis/venv/lib/python3.5/site-packages/gin/utils.py", line 49, in augment_exception_message_and_reraise
    six.raise_from(proxy.with_traceback(exception.__traceback__), None)
  File "<string>", line 3, in raise_from
  File "/home/francis/venv/lib/python3.5/site-packages/gin/config.py", line 1055, in gin_wrapper
    return fn(*new_args, **new_kwargs)
  File "/home/francis/code/Research/tensor2robot/predictors/checkpoint_predictor.py", line 87, in __init__
    estimator_spec = t2r_model.model_fn(preprocessed_features, None, mode)
  File "/home/francis/code/Research/tensor2robot/models/abstract_model.py", line 682, in model_fn
    config, params)
  File "/home/francis/code/Research/tensor2robot/meta_learning/maml_model.py", line 325, in inference_network_fn
    task_learn, elems, mode, params)
  File "/home/francis/code/Research/tensor2robot/meta_learning/maml_model.py", line 220, in _map_task_learn
    dtypes = self.infer_base_model_output_dtypes(mode, params)
  File "/home/francis/code/Research/tensor2robot/meta_learning/maml_model.py", line 190, in infer_base_model_output_dtypes
    params=params)
  File "/home/francis/code/Research/tensor2robot/models/regression_model.py", line 150, in inference_network_fn
    list(outputs.keys())))
ValueError: For regression models inference_output is a required key in outputs but is not in ['state_features', 'action'].
  In call to configurable 'CheckpointPredictor' (<class 'tensor2robot.predictors.checkpoint_predictor.CheckpointPredictor'>)

The cause is as follows:

class PoseEnvRegressionModel(in research/pose_env/pose_env_models.py) inherits from class RegressionModel(in models/regression_model.py). In the superclass it raises error if output of a_func doesn't contain key inference_output. But in the subclass the implementation of a_func returns the actual inference output with key action.

A quick fix is to change a_func of class PoseEnvRegressionModelas follows:

        -  return {'action': estimated_pose, 'state_features': feature_points}
        + return {'inference_output': estimated_pose, 'action': estimated_pose, 'state_features': feature_points}

After this change the tests passed. Note that simply changing action to inference output will still cause test failure with different errors, I currently haven't looked into the cause yet, would appreciate insight on that as well!

p.s.
my tf version: 1.14.0

TypeError: train_eval_model() got an unexpected keyword argument 'use_tpu_wrapper'

Hi,
I have tried to run QT-opt from my PC last week but I have not been able to make it work yet.
I am using conda to be able to get the right version of every packages needed to run the project (and especially to get tensorflow 1 and avoid the migration to tensorflow 2). Though, even if I have the packages of requirement.txt with the right versions, I am still getting errors like showed on the screenshot (problem with use_tpu_wrapper). Do you have any ideas of how to fix these errors to run the code in the right way?
Thank you in advance for your consideration.

cannot import name 't2r_pb2' from 'tensor2robot.proto' (unknown location)

Python == 3.7.0
The environment is installed successfully with requirements.txt.

When I enter
python -m tensor2robot.research.pose_env.pose_env_test
it is successful

But when I enter this code,
python -m tensor2robot.research.qtopt.t2r_models_test
It output the error

Successfully opened dynamic library libnvinfer_plugin.so.6
Traceback (most recent call last):
  File "/home/ros/anaconda3/envs/tensor2robot/lib/python3.7/runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "/home/ros/anaconda3/envs/tensor2robot/lib/python3.7/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/home/ros/Work_ros/tensor2robot/research/qtopt/t2r_models_test.py", line 24, in <module>
    from tensor2robot.research.qtopt import t2r_models
  File "/home/ros/Work_ros/tensor2robot/research/qtopt/t2r_models.py", line 28, in <module>
    from tensor2robot.models import abstract_model
  File "/home/ros/Work_ros/tensor2robot/models/abstract_model.py", line 34, in <module>
    from tensor2robot.models import model_interface
  File "/home/ros/Work_ros/tensor2robot/models/model_interface.py", line 39, in <module>
    from tensor2robot.preprocessors import abstract_preprocessor
  File "/home/ros/Work_ros/tensor2robot/preprocessors/__init__.py", line 17, in <module>
    from tensor2robot.preprocessors import abstract_preprocessor
  File "/home/ros/Work_ros/tensor2robot/preprocessors/abstract_preprocessor.py", line 28, in <module>
    from tensor2robot.utils import tensorspec_utils
  File "/home/ros/Work_ros/tensor2robot/utils/tensorspec_utils.py", line 31, in <module>
    from tensor2robot.proto import t2r_pb2
ImportError: cannot import name 't2r_pb2' from 'tensor2robot.proto' (unknown location)

I can't find t2r_pb2 in the repository.
any suggestion for help? think you!

Tensorflow Version Conflict

Hi,

I successfully installed the environment on Python==3.8.10, tf is 2.11.

When I enter
python -m tensor2robot.research.pose_env.pose_env_models_test
It returns an error:
ModuleNotFoundError: No module named 'tensorflow.contrib'

Then I downgrade my python version and tf version to Python==3.7.16 and tf==1.14 (I created a new virtual environment)
When I enter the same code, it returns me a different error:

pybullet build time: May 20 2022 19:43:01
Traceback (most recent call last):
File "/usr/lib/python3.7/runpy.py", line 193, in _run_module_as_main
"main", mod_spec)
File "/usr/lib/python3.7/runpy.py", line 85, in _run_code
exec(code, run_globals)
File "/home/fredayao/Robot2/tensor2robot/research/pose_env/pose_env_models_test.py", line 29, in
from tensor2robot.research.pose_env import pose_env_models
File "/home/fredayao/Robot2/tensor2robot/research/pose_env/pose_env_models.py", line 23, in
from tensor2robot.layers import vision_layers
File "/home/fredayao/Robot2/tensor2robot/layers/vision_layers.py", line 22, in
from tensor2robot.layers import spatial_softmax
File "/home/fredayao/Robot2/tensor2robot/layers/spatial_softmax.py", line 25, in
import tensorflow_probability as tfp
File "/home/fredayao/tensorflow_tf1/venv_pyton3.7/lib/python3.7/site-packages/tensorflow_probability/init.py", line 20, in
from tensorflow_probability import substrates
File "/home/fredayao/tensorflow_tf1/venv_pyton3.7/lib/python3.7/site-packages/tensorflow_probability/substrates/init.py", line 17, in
from tensorflow_probability.python.internal import all_util
File "/home/fredayao/tensorflow_tf1/venv_pyton3.7/lib/python3.7/site-packages/tensorflow_probability/python/init.py", line 138, in
dir(globals()[pkg_name]) # Forces loading the package from its lazy loader.
File "/home/fredayao/tensorflow_tf1/venv_pyton3.7/lib/python3.7/site-packages/tensorflow_probability/python/internal/lazy_loader.py", line 57, in dir
module = self._load()
File "/home/fredayao/tensorflow_tf1/venv_pyton3.7/lib/python3.7/site-packages/tensorflow_probability/python/internal/lazy_loader.py", line 37, in _load
self._on_first_access()
File "/home/fredayao/tensorflow_tf1/venv_pyton3.7/lib/python3.7/site-packages/tensorflow_probability/python/init.py", line 64, in _validate_tf_environment
present=tf.version))
ImportError: This version of TensorFlow Probability requires TensorFlow version >= 2.11; Detected an installation of version 1.14.0. Please upgrade TensorFlow to proceed.

It requires me the latest version for tensorflow-probability, which is a conflict to the previous error.
Any suggestion for help? Thanks a lot!

protoc -I=./ --python_out=`pwd` t2r.proto t2r.proto:36:3: Expected "required", "optional", or "repeated". t2r.proto:36:6: Expected field name.

(google_RT1) robot@robot-System-Product-Name:~/ref/tensor2robot/proto$ protoc -I=./ --python_out=pwd t2r.proto
t2r.proto:36:3: Expected "required", "optional", or "repeated".
t2r.proto:36:6: Expected field name.

ENV:
protobuf version:3.19.6
(google_RT1) tmirobot@tmirobot-System-Product-Name:~/ref/tensor2robot/proto$ pip install protobuf
Looking in indexes: http://pypi.douban.com/simple
Requirement already satisfied: protobuf in /home/tmirobot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (3.19.6)

python3 version:3.8.15
this is my env createdy by conda
(google_RT1) robot@robot-System-Product-Name:~/ref/tensor2robot/proto$ python3
Python 3.8.15 (default, Nov 24 2022, 15:19:38)
[GCC 11.2.0] :: Anaconda, Inc. on linux
Type "help", "copyright", "credits" or "license" for more information.

VRGripper Simulation

The VRGripper part corresponding to paper, Watch, Try, Learn, provides a brief description of the configs but doesn't seem to explicitly provide the steps to run them, apart from top-level quickstart

Could you point to / provide the procedure to run the simulations, as described in the corresponding paper ?

ModuleNotFoundError: No module named 'tensorflow.contrib' when

my env :

GPU driver
(google_RT1) robot@robot:/usr/local$ ls -al cuda
lrwxrwxrwx 1 root root 20 Sep 20 15:10 cuda -> /usr/local/cuda-10.0

+-----------------------------------------------------------------------------+
| Processes: GPU Memory |
| GPU PID Type Process name Usage |
|=============================================================================|
| 0 1142 G /usr/lib/xorg/Xorg 183MiB |
+-----------------------------------------------------------------------------+

python3:

(google_RT1) robot@robot:/usr/local$ python
Python 3.8.15 (default, Nov 24 2022, 15:19:38)
[GCC 11.2.0] :: Anaconda, Inc. on linux
Type "help", "copyright", "credits" or "license" for more information.

(google_RT1) robot@robot:~/ref$ pip install -r robotics_transformer/requirements.txt 
Looking in indexes: http://pypi.douban.com/simple
Requirement already satisfied: absl-py>=0.5.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from -r robotics_transformer/requirements.txt (line 1)) (1.3.0)
Requirement already satisfied: numpy>=1.13.3 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from -r robotics_transformer/requirements.txt (line 2)) (1.23.5)
Requirement already satisfied: tensorflow>=1.13.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from -r robotics_transformer/requirements.txt (line 3)) (2.11.0)
Requirement already satisfied: tensorflow-serving-api>=1.13.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from -r robotics_transformer/requirements.txt (line 4)) (2.11.0)
Requirement already satisfied: gin-config>=0.1.4 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from -r robotics_transformer/requirements.txt (line 5)) (0.5.0)
Requirement already satisfied: tensorflow-probability>=0.6.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from -r robotics_transformer/requirements.txt (line 6)) (0.19.0)
Requirement already satisfied: tf-agents>=0.3.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from -r robotics_transformer/requirements.txt (line 7)) (0.15.0)
Requirement already satisfied: tf-slim>=1.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from -r robotics_transformer/requirements.txt (line 8)) (1.1.0)
Requirement already satisfied: flatbuffers>=2.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (22.12.6)
Requirement already satisfied: termcolor>=1.1.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.1.1)
Requirement already satisfied: tensorboard<2.12,>=2.11 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.11.0)
Requirement already satisfied: opt-einsum>=2.3.2 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (3.3.0)
Requirement already satisfied: packaging in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (22.0)
Requirement already satisfied: tensorflow-io-gcs-filesystem>=0.23.1 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (0.28.0)
Requirement already satisfied: h5py>=2.9.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (3.7.0)
Requirement already satisfied: libclang>=13.0.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (14.0.6)
Requirement already satisfied: six>=1.12.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (1.16.0)
Requirement already satisfied: typing-extensions>=3.6.6 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (4.4.0)
Requirement already satisfied: tensorflow-estimator<2.12,>=2.11.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.11.0)
Requirement already satisfied: gast<=0.4.0,>=0.2.1 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (0.4.0)
Requirement already satisfied: google-pasta>=0.1.1 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (0.2.0)
Requirement already satisfied: keras<2.12,>=2.11.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.11.0)
Requirement already satisfied: protobuf<3.20,>=3.9.2 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (3.19.6)
Requirement already satisfied: setuptools in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (65.5.0)
Requirement already satisfied: wrapt>=1.11.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (1.14.1)
Requirement already satisfied: astunparse>=1.6.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (1.6.3)
Requirement already satisfied: grpcio<2.0,>=1.24.3 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (1.51.1)
Requirement already satisfied: dm-tree in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow-probability>=0.6.0->-r robotics_transformer/requirements.txt (line 6)) (0.1.7)
Requirement already satisfied: decorator in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow-probability>=0.6.0->-r robotics_transformer/requirements.txt (line 6)) (5.1.1)
Requirement already satisfied: cloudpickle>=1.3 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorflow-probability>=0.6.0->-r robotics_transformer/requirements.txt (line 6)) (2.2.0)
Requirement already satisfied: gym<=0.23.0,>=0.17.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tf-agents>=0.3.0->-r robotics_transformer/requirements.txt (line 7)) (0.23.0)
Requirement already satisfied: pillow in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tf-agents>=0.3.0->-r robotics_transformer/requirements.txt (line 7)) (5.3.0)
Requirement already satisfied: pygame==2.1.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tf-agents>=0.3.0->-r robotics_transformer/requirements.txt (line 7)) (2.1.0)
Requirement already satisfied: wheel<1.0,>=0.23.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from astunparse>=1.6.0->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (0.37.1)
Requirement already satisfied: gym-notices>=0.0.4 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from gym<=0.23.0,>=0.17.0->tf-agents>=0.3.0->-r robotics_transformer/requirements.txt (line 7)) (0.0.8)
Requirement already satisfied: importlib-metadata>=4.10.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from gym<=0.23.0,>=0.17.0->tf-agents>=0.3.0->-r robotics_transformer/requirements.txt (line 7)) (5.1.0)
Requirement already satisfied: werkzeug>=1.0.1 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.2.2)
Requirement already satisfied: markdown>=2.6.8 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (3.4.1)
Requirement already satisfied: tensorboard-data-server<0.7.0,>=0.6.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (0.6.1)
Requirement already satisfied: google-auth<3,>=1.6.3 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.15.0)
Requirement already satisfied: requests<3,>=2.21.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.28.1)
Requirement already satisfied: google-auth-oauthlib<0.5,>=0.4.1 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (0.4.6)
Requirement already satisfied: tensorboard-plugin-wit>=1.6.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (1.8.1)
Requirement already satisfied: rsa<5,>=3.1.4 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from google-auth<3,>=1.6.3->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (4.9)
Requirement already satisfied: pyasn1-modules>=0.2.1 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from google-auth<3,>=1.6.3->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (0.2.8)
Requirement already satisfied: cachetools<6.0,>=2.0.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from google-auth<3,>=1.6.3->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (5.2.0)
Requirement already satisfied: requests-oauthlib>=0.7.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from google-auth-oauthlib<0.5,>=0.4.1->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (1.3.1)
Requirement already satisfied: zipp>=0.5 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from importlib-metadata>=4.10.0->gym<=0.23.0,>=0.17.0->tf-agents>=0.3.0->-r robotics_transformer/requirements.txt (line 7)) (3.11.0)
Requirement already satisfied: charset-normalizer<3,>=2 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from requests<3,>=2.21.0->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.1.1)
Requirement already satisfied: idna<4,>=2.5 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from requests<3,>=2.21.0->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (3.4)
Requirement already satisfied: urllib3<1.27,>=1.21.1 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from requests<3,>=2.21.0->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (1.26.13)
Requirement already satisfied: certifi>=2017.4.17 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from requests<3,>=2.21.0->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2022.9.24)
Requirement already satisfied: MarkupSafe>=2.1.1 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from werkzeug>=1.0.1->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (2.1.1)
Requirement already satisfied: pyasn1<0.5.0,>=0.4.6 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from pyasn1-modules>=0.2.1->google-auth<3,>=1.6.3->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (0.4.8)
Requirement already satisfied: oauthlib>=3.0.0 in /home/robot/anaconda3/envs/google_RT1/lib/python3.8/site-packages (from requests-oauthlib>=0.7.0->google-auth-oauthlib<0.5,>=0.4.1->tensorboard<2.12,>=2.11->tensorflow>=1.13.0->-r robotics_transformer/requirements.txt (line 3)) (3.2.2)

Question:
I has successfully configure env as your install step instruction:

pybullet build time: Dec 16 2022 10:07:09
Running tests under Python 3.8.15: /home/robot/anaconda3/envs/google_RT1/bin/python3.8
[ RUN      ] PoseEnvTest.test_PoseEnv
[       OK ] PoseEnvTest.test_PoseEnv
----------------------------------------------------------------------
Ran 1 test in 0.065s

but when I 
**(google_RT1) robot@robot:~/ref$ python -m tensor2robot.research.pose_env.pose_env_models_test**
it shows the following infomation:**ModuleNotFoundError: No module named 'tensorflow.contrib'**


(google_RT1) robot@robot:~/ref$ python -m tensor2robot.research.pose_env.pose_env_models_test
2022-12-16 11:06:35.907244: I tensorflow/core/platform/cpu_feature_guard.cc:193] This TensorFlow binary is optimized with oneAPI Deep Neural Network Library (oneDNN) to use the following CPU instructions in performance-critical operations:  AVX2 FMA
To enable them in other operations, rebuild TensorFlow with the appropriate compiler flags.
2022-12-16 11:06:35.980578: W tensorflow/compiler/xla/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcudart.so.11.0'; dlerror: libcudart.so.11.0: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /opt/ros/kinetic/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda/lib64
2022-12-16 11:06:35.980598: I tensorflow/compiler/xla/stream_executor/cuda/cudart_stub.cc:29] Ignore above cudart dlerror if you do not have a GPU set up on your machine.
2022-12-16 11:06:36.418803: W tensorflow/compiler/xla/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libnvinfer.so.7'; dlerror: libnvinfer.so.7: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /opt/ros/kinetic/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda/lib64
2022-12-16 11:06:36.418856: W tensorflow/compiler/xla/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libnvinfer_plugin.so.7'; dlerror: libnvinfer_plugin.so.7: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /opt/ros/kinetic/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda/lib64
2022-12-16 11:06:36.418865: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Cannot dlopen some TensorRT libraries. If you would like to use Nvidia GPU with TensorRT, please make sure the missing libraries mentioned above are installed properly.
Traceback (most recent call last):
  File "/home/robot/anaconda3/envs/google_RT1/lib/python3.8/runpy.py", line 194, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/home/robot/anaconda3/envs/google_RT1/lib/python3.8/runpy.py", line 87, in _run_code
    exec(code, run_globals)
  File "/home/robot/ref/tensor2robot/research/pose_env/pose_env_models_test.py", line 23, in <module>
    from tensor2robot.input_generators import default_input_generator
  File "/home/robot/ref/tensor2robot/input_generators/__init__.py", line 17, in <module>
    from tensor2robot.input_generators import abstract_input_generator
  File "/home/robot/ref/tensor2robot/input_generators/abstract_input_generator.py", line 25, in <module>
    from tensor2robot.models import abstract_model
  File "/home/robot/ref/tensor2robot/models/abstract_model.py", line 28, in <module>
    from tensor2robot.models import model_interface
  File "/home/robot/ref/tensor2robot/models/model_interface.py", line 33, in <module>
    from tensor2robot.preprocessors import abstract_preprocessor
  File "/home/robot/ref/tensor2robot/preprocessors/__init__.py", line 17, in <module>
    from tensor2robot.preprocessors import abstract_preprocessor
  File "/home/robot/ref/tensor2robot/preprocessors/abstract_preprocessor.py", line 22, in <module>
    from tensor2robot.utils import tensorspec_utils
  File "/home/robot/ref/tensor2robot/utils/tensorspec_utils.py", line 31, in <module>
    from tensorflow.contrib import framework as contrib_framework
**ModuleNotFoundError: No module named 'tensorflow.contrib'**

Recommend Projects

React

A declarative, efficient, and flexible JavaScript library for building user interfaces.
Vue.js

🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
Typescript

TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
TensorFlow

An Open Source Machine Learning Framework for Everyone
Django

The Web framework for perfectionists with deadlines.
Laravel

A PHP framework for web artisans
D3

Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

javascript

JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
web

Some thing interesting about web. New door for the world.
server

A server is a program made to process requests and deliver data to clients.
Machine learning

Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Visualization

Some thing interesting about visualization, use data art
Game

Some thing interesting about game, make everyone happy.

Recommend Org

Facebook

We are working to build community through open source technology. NB: members must have two-factor auth.
Microsoft

Open source projects and samples from Microsoft.
Google

Google ❤️ Open Source for everyone.
Alibaba

Alibaba Open Source for everyone
D3

Data-Driven Documents codes.
Tencent

China tencent open source team.