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ARISE-Initiative / robosuite

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
https://robosuite.ai
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Playback script does not reproduce deterministic results #173

Closed zhuyifengzju closed 3 years ago

zhuyifengzju commented 3 years ago

Currently the scripts for playing back demonstrations seem to have a problem to reproduce the same trajectories as in the collected demonstrations. So if first collect data using: python scripts/collect_human_demonstrations.py --device spacemouse, and then run python scripts/playback_demonstrations_from_hdf5.py --folder DEMONSTRATION_FOLDER --use-actions, it will gives the following error: Traceback (most recent call last): File "scripts/playback_demonstrations_from_hdf5.py", line 93, in <module> assert(np.all(np.equal(states[j + 1], state_playback))) AssertionError

Seems like the deterministic playback is broken somehow.

yukezhu commented 3 years ago

Confirmed this issue on my end. Example demo.hdf5

State-only playback image

Action playback image

yukezhu commented 3 years ago

Also, playback script complained about missing joint_torques values in hdf5 https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/scripts/playback_demonstrations_from_hdf5.py#L83