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NVlabs / handover-sim

A simulation environment and benchmark for human-to-robot object handovers
https://handover-sim.github.io
BSD 3-Clause "New" or "Revised" License
87 stars 14 forks source link

b3Printf: URDF file '/home/user/handover-sim/handover/data/assets/table/table.urdf' not found #9

Closed hwpengTristin closed 1 year ago

hwpengTristin commented 1 year ago

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

RAFAYAAMIR commented 1 year ago

Hi @HWPengSYSU1993

Can you please share? how did you resolve this issue, if it has been resolved?

hwpengTristin commented 1 year ago

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.

ychao-nvidia commented 1 year ago

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.