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Jiayuan-Gu / hab-mobile-manipulation

Mobile manipulation in Habitat
https://sites.google.com/view/hab-m3
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Cannot load URDF file #7

Open LZHLilE opened 1 year ago

LZHLilE commented 1 year ago

Hi, I'm using your dokcer image to create a container and steup the habitat-lab and hab-mobile-manipulation. And everything is ready, including data and episodes. However, there comes an issue about the URDF file when I tried to run a play-demo. (base) ubuntu@949561b4793d:~/work/hab-mobile-manipulation$ python habitat_extensions/tasks/rearrange/play.py pybullet build time: Sep 22 2020 00:55:20 Neitherifconfig(ifconfig -a) norip(ip address show) commands are available, listing network interfaces is likely to fail Loaded /home/ubuntu/work/hab-mobile-manipulation/configs/rearrange/tasks/play.yaml Merging /home/ubuntu/work/hab-mobile-manipulation/configs/rearrange/tasks/base.yaml into /home/ubuntu/work/hab-mobile-manipulation/configs/rearrange/tasks/play.yaml Loaded /home/ubuntu/work/hab-mobile-manipulation/configs/rearrange/tasks/base.yaml Merging /home/ubuntu/work/hab-mobile-manipulation/configs/rearrange/tasks/__base__.py into /home/ubuntu/work/hab-mobile-manipulation/configs/rearrange/tasks/base.yaml Loaded /home/ubuntu/work/hab-mobile-manipulation/configs/rearrange/tasks/__base__.py 2023-11-09 11:16:10,090 Initializing dataset RearrangeDataset-v0 2023-11-09 11:16:12,117 initializing sim RearrangeSim-v0 b3Warning[examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h,102]: habitat_extensions/assets/robots/hab_fetch/robots/hab_fetch_arm.urdf:12: cannot find '../meshes/base_link.dae' in any directory in urdf path b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]: Could not parse visual element for Link:b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]: base_linkb3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]: failed to parse linkTraceback (most recent call last): File "habitat_extensions/tasks/rearrange/play.py", line 269, in <module> main() File "habitat_extensions/tasks/rearrange/play.py", line 219, in main env: RearrangeRLEnv = env_cls(config) File "/home/ubuntu/work/hab-mobile-manipulation/habitat_extensions/tasks/rearrange/env.py", line 31, in __init__ super().__init__(self._core_env_config, dataset=dataset) File "/home/ubuntu/work/hab-mobile-manipulation/habitat-lab/habitat/core/env.py", line 377, in __init__ self._env = Env(config, dataset) File "/home/ubuntu/work/hab-mobile-manipulation/habitat-lab/habitat/core/env.py", line 108, in __init__ id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR File "/home/ubuntu/work/hab-mobile-manipulation/habitat-lab/habitat/sims/registration.py", line 19, in make_sim return _sim(**kwargs) File "/home/ubuntu/work/hab-mobile-manipulation/habitat_extensions/tasks/rearrange/sim.py", line 93, in __init__ ARM_URDF, joint_indices=[0, 1, 2, 3, 4, 5, 6], ee_link_idx=7 File "/home/ubuntu/work/hab-mobile-manipulation/habitat_extensions/robots/pybullet_utils.py", line 45, in __init__ physicsClientId=self.client_id, pybullet.error: Cannot load URDF file. I'd appreciate it if you could help me. Best, Zihao Luan

LZHLilE commented 1 year ago

I'm using a headless remote server. Is there any problem with the headless mode?

Jiayuan-Gu commented 9 months ago

Sorry for the late reply. I think the error is caused from some missing asset: 

b3Warning[examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h,102]:
habitat_extensions/assets/robots/hab_fetch/robots/hab_fetch_arm.urdf:12: cannot find '../meshes/base_link.dae' in any directory in urdf path
b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:
Could not parse visual element for Link:b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:
base_linkb3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:
failed to parse linkTraceback (most recent call last):