what am I doing wrong in the build your own environment example

[quinnliu]

Hi,

Really excited to lay a virtual wall of bricks using robosuite API.

In the build your own environment example I'm getting an error on the sphere BallObject

from robosuite.models import MujocoWorldBase
from robosuite.models.robots import Panda
from robosuite.models.grippers import gripper_factory
from robosuite.models.arenas import TableArena
from robosuite.models.objects import BallObject
from robosuite.utils.mjcf_utils import new_joint
from mujoco_py import MjSim, MjViewer

world = MujocoWorldBase()

mujoco_robot = Panda()

gripper = gripper_factory('PandaGripper')
mujoco_robot.add_gripper(gripper)

mujoco_robot.set_base_xpos([0, 0, 0])
world.merge(mujoco_robot)

mujoco_arena = TableArena()
mujoco_arena.set_origin([0.8, 0, 0])
world.merge(mujoco_arena)

sphere = BallObject(
    name="sphere",
    size=[0.04],
    rgba=[0, 0.5, 0.5, 1]).get_collision()
sphere.append(new_joint(name='sphere_free_joint', type='free'))
sphere.set('pos', '1.0 0 1.0')
world.worldbody.append(sphere)

error

  File "build_wall.py", line 52, in <module>
    rgba=[0, 0.5, 0.5, 1]).get_collision()
AttributeError: 'BallObject' object has no attribute 'get_collision'

I'm not sure what I'm doing wrong as I'm just copying the example code. Was the get_collision() function deprecated? If so how would I figure out exactly which functions I can && can not call?

Thanks, Q

[cremebrule]

Hi @quinnliu ,

Yes, unfortunately, the docs have not been updated since v1.0.0. We are currently on v 1.1, which heavily refactored the backend to make prototyping much easier, and v1.2 will be released in a few days, along with an updated version of the docs. Apologies for the delay!

In the meantime, to get your code working, you can instead call .get_obj() (instead of get_collision, which indeed has been depreceated) to get the xml to append to your mujoco world object.

[cremebrule]

I should also note that all the source code has been heavily documented, if you are interested in digging through the exact functionality currently present. The changelog for v1.1 also covers some of these changes. Otherwise, stay tuned for the v1.2 release with updated docs in a few days! :)

[quinnliu]

@cremebrule Thank you very much!

Do you have an updated link on the demo scripts?

The change log for v1.1 should be good for now :)

[cremebrule]

The robosuite/demos folder accessed from this repo should have all the updated demo scripts.