zhuyifengzju
commented
7 months ago Hi, In order to use a new XML file, you need to carefully take care of the naming convention. For example, like panda gripper . You either needs to change the shadowhand.xml, or change the naming definition in python class in order to obtain correct result.
Jonas-Metzger
Hi, @minhnh
when I try to import right_hand.xml as a gripper into robosuite, it always reports an error:
Traceback (most recent call last): File "/home/charlie/tempo/robosuite/robosuite/scripts/collect_human_demonstrations.py", line 284, in
env = suite.make(
File "/home/charlie/tempo/robosuite/robosuite/environments/base.py", line 40, in make
return REGISTERED_ENVS[env_name](*args, **kwargs)
File "/home/charlie/tempo/robosuite/robosuite/environments/manipulation/door.py", line 180, in init
super().init(
File "/home/charlie/tempo/robosuite/robosuite/environments/manipulation/manipulation_env.py", line 163, in init
super().init(
File "/home/charlie/tempo/robosuite/robosuite/environments/robot_env.py", line 219, in init
super().init(
File "/home/charlie/tempo/robosuite/robosuite/environments/base.py", line 134, in init
self._load_model()
File "/home/charlie/tempo/robosuite/robosuite/environments/manipulation/door.py", line 296, in _load_model
super()._load_model()
File "/home/charlie/tempo/robosuite/robosuite/environments/manipulation/single_arm_env.py", line 21, in _load_model
super()._load_model()
File "/home/charlie/tempo/robosuite/robosuite/environments/robot_env.py", line 353, in _load_model
self._load_robots()
File "/home/charlie/tempo/robosuite/robosuite/environments/robot_env.py", line 702, in _load_robots
self.robots[idx].load_model()
File "/home/charlie/tempo/robosuite/robosuite/robots/single_arm.py", line 155, in load_model
self.gripper = gripper_factory(self.robot_model.default_gripper, idn=self.idn)
File "/home/charlie/tempo/robosuite/robosuite/models/grippers/gripper_factory.py", line 29, in gripper_factory
return GRIPPER_MAPPINGname
File "/home/charlie/tempo/robosuite/robosuite/models/grippers/shadow_hand.py", line 17, in init
super().init(xml_path_completion("grippers/shadow_hand/right_hand.xml"), idn=idn)
File "/home/charlie/tempo/robosuite/robosuite/models/grippers/gripper_model.py", line 21, in init
super().init(fname, idn=idn)
File "/home/charlie/tempo/robosuite/robosuite/models/base.py", line 496, in init
super().init(fname)
File "/home/charlie/tempo/robosuite/robosuite/models/base.py", line 47, in init
self._replace_defaults_inline(default_dic=default_classes)
File "/home/charlie/tempo/robosuite/robosuite/models/base.py", line 254, in _replace_defaults_inline
self._replace_defaults_inline(default_dic=default_dic, root=child)
File "/home/charlie/tempo/robosuite/robosuite/models/base.py", line 254, in _replace_defaults_inline
self._replace_defaults_inline(default_dic=default_dic, root=child)
File "/home/charlie/tempo/robosuite/robosuite/models/base.py", line 254, in _replace_defaults_inline
self._replace_defaults_inline(default_dic=default_dic, root=child)
File "/home/charlie/tempo/robosuite/robosuite/models/base.py", line 247, in _replace_defaults_inline
tag_attrs = default_dic[cls_name].get(root.tag, None)
KeyError: 'wrist'
Process finished with exit code 1
Could you give me some suggestions? Thanks for any help!