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ARISE-Initiative / robomimic

robomimic: A Modular Framework for Robot Learning from Demonstration
MIT License
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TwoArmHandover dataset issue #4

Closed zhuyifengzju closed 3 years ago

zhuyifengzju commented 3 years ago

It seems that the hammer object is missing from the xml file of the dataset. Also, it seems that there are no cubes present in the TwoArmHandover environment from robosuite repo. Is the environment up-to-date? Here are the terminal output when trying to do reset_from_xml_string: 


    env.reset_from_xml_string(xml)
  File "/home/yifengz/workspace/robosuite-master/robosuite/environments/base.py", line 504, in reset_from_xml_string
    self.reset()
  File "/home/yifengz/workspace/robosuite-master/robosuite/environments/base.py", line 243, in reset
    self._reset_internal()
  File "/home/yifengz/workspace/robosuite-master/robosuite/environments/manipulation/two_arm_handover.py", line 439, in _reset_internal
    super()._reset_internal()
  File "/home/yifengz/workspace/robosuite-master/robosuite/environments/robot_env.py", line 390, in _reset_internal
    super()._reset_internal()
  File "/home/yifengz/workspace/robosuite-master/robosuite/environments/base.py", line 286, in _reset_internal
    self._setup_references()
  File "/home/yifengz/workspace/robosuite-master/robosuite/environments/manipulation/two_arm_handover.py", line 373, in _setup_references
    self.hammer_body_id = self.sim.model.body_name2id(self.hammer.root_body)
  File "wrappers.pxi", line 1019, in mujoco_py.cymj.PyMjModel.body_name2id
ValueError: No "body" with name hammer_root exists. Available "body" names = ('world', 'table0', 'table1', 'robot0_base', 'robot0_link0', 'robot0_link1', 'robot0_link2', 'robot0_link3', 'robot0_link4', 'robot0_link5', 'robot0_link6', 'robot0_link7', 'robot0_right_hand', 'gripper0_right_gripper', 'gripper0_leftfinger', 'gripper0_finger_joint1_tip', 'gripper0_rightfinger', 'gripper0_finger_joint2_tip', 'mount0_base', 'mount0_controller_box', 'mount0_pedestal_feet', 'mount0_torso', 'mount0_pedestal', 'robot1_base', 'robot1_link0', 'robot1_link1', 'robot1_link2', 'robot1_link3', 'robot1_link4', 'robot1_link5', 'robot1_link6', 'robot1_link7', 'robot1_right_hand', 'gripper1_right_gripper', 'gripper1_leftfinger', 'gripper1_finger_joint1_tip', 'gripper1_rightfinger', 'gripper1_finger_joint2_tip', 'mount1_base', 'mount1_controller_box', 'mount1_pedestal_feet', 'mount1_torso', 'mount1_pedestal', 'payload_root', 'trash_main', 'transport_start_bin_root', 'transport_target_bin_root', 'transport_trash_bin_root', 'transport_start_bin_lid_root').```
amandlek commented 3 years ago

Are you on the offline_study branch? To work with the demonstration datasets, you should use that branch as mentioned in the docs.