AssertionError: OSC_POSE controller is specified, but not imported or loaded

[neelbg01]

[robosuite INFO] Loading controller configuration from: /home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/controllers/config/default/composite/basic.json (composite_controller_factory.py:121)
Traceback (most recent call last):
  File "train_bc_rnn.py", line 461, in <module>
    train(config, device=device)
  File "/home/neel/Documents/Thesis/robomimic/robomimic/scripts/train.py", line 99, in train
    env = EnvUtils.create_env_from_metadata(
  File "/home/neel/Documents/Thesis/robomimic/robomimic/utils/env_utils.py", line 229, in create_env_from_metadata
    env = create_env(
  File "/home/neel/Documents/Thesis/robomimic/robomimic/utils/env_utils.py", line 174, in create_env
    env = env_class(
  File "/home/neel/Documents/Thesis/robomimic/robomimic/envs/env_robosuite.py", line 107, in __init__
    self.env = robosuite.make(self._env_name, **kwargs)
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/environments/base.py", line 41, in make
    return REGISTERED_ENVS[env_name](*args, **kwargs)
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/environments/manipulation/lift.py", line 187, in __init__
    super().__init__(
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/environments/manipulation/manipulation_env.py", line 171, in __init__
    super().__init__(
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/environments/robot_env.py", line 221, in __init__
    super().__init__(
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/environments/base.py", line 158, in __init__
    self._reset_internal()
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/environments/manipulation/lift.py", line 394, in _reset_internal
    super()._reset_internal()
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/environments/robot_env.py", line 526, in _reset_internal
    robot.reset(deterministic=self.deterministic_reset)
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/robots/fixed_base_robot.py", line 78, in reset
    super().reset(deterministic)
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/robots/robot.py", line 269, in reset
    self._load_controller()
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/robots/fixed_base_robot.py", line 46, in _load_controller
    self.composite_controller = composite_controller_factory(
  File "/home/neel/anaconda3/envs/mujoco_py/lib/python3.8/site-packages/robosuite/controllers/composite/__init__.py", line 8, in composite_controller_factory
    assert type in REGISTERED_COMPOSITE_CONTROLLERS_DICT, f"{type} controller is specified, but not imported or loaded"
AssertionError: OSC_POSE controller is specified, but not imported or loaded

Does anyone know how to solve this issue? I'm simply trying to test the installation of robomimic and I have been stuck on this issue for hours.

[Tconcept]

I had a similar error when I tried to train using a dataset generated from robosuite 1.4 with the new version. The env_args difference in the the dataset attributes which initializes the robosuite env seems to be different for the two versions which caused the issue. I was able to fix this by writing a script to change the env_args to fit the new structure. I haven't thoroughly tested the final trained model's performance impact, but this could get the training script to successfully initialize the environment and start training.

[liaojiaxin97]

@Tconcept Can you explain in detail how to set up the script? my robosuite 1.5.1 robomimic 0.4.0 its same to u?

[akhilrkurup]

@Tconcept could you please share the changes you made

[DI-X]

I also had the same problems so, I just overwrote the dataset based on the data sets from robomimic.

import h5py
import os
import json

def printName(name):
    print(name)

# data set from robomimic  (https://robomimic.github.io/docs/datasets/robomimic_v0.1.html)    
# path_data = os.path.join('lift/ph/', 'low_dim_v15.hdf5')

# data set from mimicgen
path_data = os.path.join('stack/', 'stack_d1.hdf5')

with h5py.File(path_data, 'r+') as f:

    # 1. Read the attribute (it's stored as a JSON string)
    env_args_str = f["data"].attrs["env_args"]

    # 2. Convert JSON string → Python dict
    env_args = json.loads(env_args_str)

    # 3. Modify the field you want
    # env_args["env_name"] = "Stack" #if you are using mimicgen and the env_name is "Stack_D1", you need to change it to "Stack"
    env_args['env_kwargs']['controller_configs'] = {'type': 'BASIC', 'body_parts': {'right': {'type': 'OSC_POSE', 'input_max': 1, 'input_min': -1, 'output_max': [0.05, 0.05, 0.05, 0.5, 0.5, 0.5], 'output_min': [-0.05, -0.05, -0.05, -0.5, -0.5, -0.5], 'kp': 150, 'damping': 1, 'impedance_mode': 'fixed', 'kp_limits': [0, 300], 'damping_limits': [0, 10], 'position_limits': None, 'orientation_limits': None, 'uncouple_pos_ori': True, 'control_delta': True, 'interpolation': None, 'ramp_ratio': 0.2, 'input_ref_frame': 'world', 'gripper': {'type': 'GRIP'}}}}

    # 4. Convert back to JSON string
    new_env_args_str = json.dumps(env_args, indent=4)

    # 5. Overwrite the attribute with the new string
    f["data"].attrs["env_args"] = new_env_args_str

I hope this help your developments

[yanan1116]

try this

assert robomimic.__version__ == '0.5.0'
assert robosuite.__version__ == '1.4.1'