Closed hwpengTristin closed 1 year ago
Hi @HWPengSYSU1993
Can you please share? how did you resolve this issue, if it has been resolved?
Hi @RAFAYAAMIR. Actually, I didn't follow the step-4 of "Download the DexYCB dataset". So I close this issue, as it work by following the instruction of installing the dataset.
handover-sim/handover/data/assets/table/table.urdf
should be generated in Installation step 5. ii. (see here and here). Make sure pybullet
has been installed from step 2., and you have run step 5. i. to download and extract the assets.
Hi, thank you for your great work for human-to-robot handovers.
When I run a handover environment (Ubuntu20.04 python 3.8): python examples/demo_handover_env.py \ SIM.RENDER True
I meet the following error:
pybullet build time: May 20 2022 19:44:17 argv[0]= startThreads creating 1 threads. starting thread 0 started thread 0 argc=3 argv[0] = --unused argv[1] = argv[2] = --start_demo_name=Physics Server ExampleBrowserThreadFunc started X11 functions dynamically loaded using dlopen/dlsym OK! X11 functions dynamically loaded using dlopen/dlsym OK! Creating context Created GL 3.3 context Direct GLX rendering context obtained Making context current GL_VENDOR=NVIDIA Corporation GL_RENDERER=NVIDIA GeForce RTX 4080/PCIe/SSE2 GL_VERSION=3.3.0 NVIDIA 525.105.17 GL_SHADING_LANGUAGE_VERSION=3.30 NVIDIA via Cg compiler pthread_getconcurrency()=0 Version = 3.3.0 NVIDIA 525.105.17 Vendor = NVIDIA Corporation Renderer = NVIDIA GeForce RTX 4080/PCIe/SSE2 b3Printf: Selected demo: Physics Server startThreads creating 1 threads. starting thread 0 started thread 0 MotionThreadFunc thread started b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,152]:
b3Printf: URDF file '/home/hwpeng/handover-sim/handover/data/assets/table/table.urdf' not found
Traceback (most recent call last): File "examples/demo_handover_env.py", line 27, in
main()
File "examples/demo_handover_env.py", line 19, in main
env.reset(scene_id=scene_id)
File "/home/user/.conda/envs/handover_sim/lib/python3.8/site-packages/gym/wrappers/order_enforcing.py", line 18, in reset
return self.env.reset(kwargs)
File "/home/user/.conda/envs/handover_sim/lib/python3.8/site-packages/easysim/simulator_env.py", line 48, in reset
self._simulator.reset(env_ids)
File "/home/user/.conda/envs/handover_sim/lib/python3.8/site-packages/easysim/simulators/bullet.py", line 98, in reset
self._load_body(body)
File "/home/user/.conda/envs/handover_sim/lib/python3.8/site-packages/easysim/simulators/bullet.py", line 178, in _load_body
self._body_ids[body.name] = self._p.loadURDF(body.urdf_file, kwargs)
pybullet.error: Cannot load URDF file.
ven = NVIDIA Corporation
numActiveThreads = 0
stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed