Imitation Learning in Isaac Lab

Omniverse Isaac Sim
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1

I tried to do Imitation Learning in Isaac Lab (Isaac Sim 4.0).
reference : https://isaac-sim.github.io/IsaacLab/source/setup/sample.html#imitation-learning

But an error occurs in 1.step b, and the hdf5 file written in 1.step-a cannot be read.

The steps are as follows.

  1. Execute 1.step_a (Isaac Sim 4.0 starts up and an arm robot that can be operated with a keyboard is spawned.)

  2. Move the arm robot on Isaac Sim using the keyboard.

  3. Stop Isaac Sim (ctrl+c in terminal)

  4. Execute 1.step_b
    ->ERROR

miharaka@linux:~/IsaacLab$ ./isaaclab.sh -p source/standalone/workflows/robomimic/tools/inspect_demonstrations.py logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5
[INFO] Using python from: /home/miharaka/.local/share/ov/pkg/isaac-sim-4.0.0/python.sh                                   
Traceback (most recent call last):
  File "/home/miharaka/IsaacLab/source/standalone/workflows/robomimic/tools/inspect_demonstrations.py", line 32, in <module>
    with h5py.File(args_cli.file, "r") as f:
  File "/home/miharaka/.local/share/ov/pkg/isaac-sim-4.0.0/kit/python/lib/python3.10/site-packages/h5py/_hl/files.py", line 562, in __init__
    fid = make_fid(name, mode, userblock_size, fapl, fcpl, swmr=swmr)
  File "/home/miharaka/.local/share/ov/pkg/isaac-sim-4.0.0/kit/python/lib/python3.10/site-packages/h5py/_hl/files.py", line 235, in make_fid
    fid = h5f.open(name, flags, fapl=fapl)
  File "h5py/_objects.pyx", line 54, in h5py._objects.with_phil.wrapper
  File "h5py/_objects.pyx", line 55, in h5py._objects.with_phil.wrapper
  File "h5py/h5f.pyx", line 102, in h5py.h5f.open
OSError: Unable to synchronously open file (truncated file: eof = 96, sblock->base_addr = 0, stored_eof = 2048)
There was an error running python

I suspect that writing to the hdf5 file was not successful when moving the arm robot, and an incomplete file was generated, but I do not understand why it cannot be clarified. I would like to know how to improve it.

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