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ARISE-Initiative / robomimic

robomimic: A Modular Framework for Robot Learning from Demonstration
MIT License
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Error when loading dataset as env #170

Closed niks64 closed 2 months ago

niks64 commented 2 months ago

Code:

dataset = "../robomimic/datasets/lift/ph/low_dim_v141.hdf5"
    env_meta = FileUtils.get_env_metadata_from_dataset(dataset)

    env = EnvUtils.create_env_for_data_processing(
        env_meta=env_meta,
        camera_names=[], 
        camera_height=84, 
        camera_width=84,
        reward_shaping=False,
    )

Error:

File "/anaconda3/envs/robomimic_env/lib/python3.12/site-packages/robosuite/robots/robot.py", line 148, in reset
 self.base_ori = T.mat2quat(self.sim.data.get_body_xmat(self.robot_model.root_body).reshape((3, 3)))

TypeError: can't unbox array from PyObject into native value.  The object maybe of a different type

Getting this error when loading one of the robomimic datasets. I am on a M1 Mac. My numba version is 0.60.0. Any idea what could be causing this error?

amandlek commented 2 months ago

I'm not too sure. Perhaps you could check the types of each object to understand what could be going on?

niks64 commented 2 months ago

The error is thrown when doing T.mat2quat(). The data being passed into the function is <class 'numpy.ndarray'>, and Shape: (3, 3). None of the lines inside the mat2quat function execute but it has a @jit_decorator.

I turned NUMBA off in macros and there is no longer an error.