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ARISE-Initiative / robosuite-task-zoo

Collection of community-contributed robosuite task designs
MIT License
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Incompatibility with Robosuite Textures #3

Closed peterdavidfagan closed 3 years ago

peterdavidfagan commented 3 years ago

@zhuyifengzju the following textures present in the multitask_kitchen.py don't seem to be supported in the most recent version of Robosuite (see https://github.com/ARISE-Initiative/robosuite/tree/master/robosuite/models/assets/textures for supported textures):

(1) Orange (2) Apple (3) Mellon (4) Cake

I am happy to submit a pull request to the Robosuite repository given the official .png files you have used for the textures.

Code snippet with unsupported texture: https://github.com/ARISE-Initiative/robosuite-task-zoo/blob/499d7ff6140e3cde92c5aa16c94702e10ec613be/robosuite_task_zoo/environments/manipulation/multitask_kitchen.py#L240

Code Sample Generating Error: import numpy as np

import robosuite as suite from robosuite import load_controller_config from robosuite.wrappers import DataCollectionWrapper, VisualizationWrapper

from robosuite_task_zoo.environments.manipulation import *

controller_config = load_controller_config(default_controller = "OSC_POSE")

config = { "robots": ["Panda"], "controller_configs": controller_config }

env = multitask_kitchen.MultitaskKitchenDomain( **config, has_renderer=True, has_offscreen_renderer=False, render_camera="agentview", ignore_done=True, use_camera_obs=False, reward_shaping=True, control_freq=20, )

Error: AssertionError: Error: Requested invalid texture. Got Orange. Valid options are: dict_keys(['WoodRed', 'WoodGreen', 'WoodBlue', 'WoodLight', 'WoodDark', 'WoodTiles', 'WoodPanels', 'WoodgrainGray', 'PlasterCream', 'PlasterPink', 'PlasterYellow', 'PlasterGray', 'PlasterWhite', 'BricksWhite', 'Metal', 'SteelBrushed', 'SteelScratched', 'Brass', 'Bread', 'Can', 'Ceramic', 'Cereal', 'Clay', 'Dirt', 'Glass', 'FeltGray', 'Lemon'])

zhuyifengzju commented 3 years ago

Hi! Thanks for raising this question. I think it's because of some legacy implementations. These textures are not supposed to be used in the BUDS paper. I'll remove the part that requires these textures.

peterdavidfagan commented 3 years ago

Thank you @zhuyifengzju, this is much appreciated. I have some capacity to work on this, if you wish to you can let me know which textures are to be used and I can submit a pr.

peterdavidfagan commented 3 years ago

Confirming that this was resolved by @zhuyifengzju in commit 838e8a8, thank you. link