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MarkFzp / act-plus-plus

Imitation learning algorithms with Co-training for Mobile ALOHA: ACT, Diffusion Policy, VINN
https://mobile-aloha.github.io/
MIT License
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Simulation issues #15

Closed deavn2236 closed 6 months ago

deavn2236 commented 6 months ago

The data generated by "record_sim_episodes. py" mostly fails. In the project, there is "sim_env. py" that can enable the simulation environment. However, even after configuring Interbotix, the following errors still exist. How can I build data through the simulation environment and test the program without hardware

Python sim Env.py Timeout exceeded while waiting for service/master Left/set Operating Modes The robot 'master Left 'is not discoverable Did you enter the correct robot Name parameter? Is the xs_ SDK node running? Quitting

sjz960913 commented 6 months ago

I have got the same problem,did you solve that?

tonyzhaozh commented 6 months ago

Something is off with the current scripted data generation, and we are currently fixing it. You should not try to run python sim_env.py as that is for a legacy test in the original ALOHA codebase (it uses real ALOHA leader arms to control sim ALOHA follower arms, it won't work unless you have two real leader arms connected to your computer.)

Please follow this thread (https://github.com/MarkFzp/act-plus-plus/issues/12) in which I will update our progress on solving this issue. Right now there are multiple issues pointing to the same dataset problem.

Thanks, Tony

lijingshanxi commented 3 months ago

Something is off with the current scripted data generation, and we are currently fixing it. You should not try to run python sim_env.py as that is for a legacy test in the original ALOHA codebase (it uses real ALOHA leader arms to control sim ALOHA follower arms, it won't work unless you have two real leader arms connected to your computer.)

Please follow this thread (#12) in which I will update our progress on solving this issue. Right now there are multiple issues pointing to the same dataset problem.

Thanks, Tony

Hi @tonyzhaozh ,

Thank you for your effort. I would like to ask how to use the keyboard to operate the sim arm. Is there any similar code that I can refer to;