Encountered some problems while executing the code

[SanMumumu]

Hi, Thank you for sharing such great work. I finish configuring all environments. When running the codepython raisimGymTorch/env/envs/dgrasp/runner_motion.py -ao -e 'all_objs' -sd 'pretrained_policies' -w 'full_6000.pt', the following error occurred

Experiment name: "021_bleach_dexycb"
num envs 18
Traceback (most recent call last):
  File "raisimGymTorch/env/envs/dgrasp_test/runner.py", line 169, in <module>
    env = VecEnv(mano.RaisimGymEnv(home_path + "/rsc", dump(cfg['environment'], Dumper=RoundTripDumper)), cfg['environment'])
  File "/data1/ws/anaconda3/envs/raisim/lib/python3.8/site-packages/ruamel.yaml-0.18.6-py3.8.egg/ruamel/yaml/main.py", line 1251, in dump
    error_deprecation('dump', 'dump', arg="typ='unsafe', pure=True")
  File "/data1/ws/anaconda3/envs/raisim/lib/python3.8/site-packages/ruamel.yaml-0.18.6-py3.8.egg/ruamel/yaml/main.py", line 1037, in error_deprecation
    raise AttributeError(s)
AttributeError: 
"dump()" has been removed, use

  yaml = YAML(typ='unsafe', pure=True)
  yaml.dump(...)

instead of file "raisimGymTorch/env/envs/dgrasp_test/runner.py", line 169

env = VecEnv(mano.RaisimGymEnv(home_path + "/rsc", dump(cfg['environment'], Dumper=RoundTripDumper)), cfg['environment'])

Then I modified the code to

# env = VecEnv(mano.RaisimGymEnv(home_path + "/rsc", dump(cfg['environment'], Dumper=RoundTripDumper)), cfg['environment'])
# ------------------------------- # 
yaml = YAML(typ='unsafe', pure=True)
with open("env_config.yaml", "w") as file:
    yaml.dump(cfg['environment'], file)
env = VecEnv(mano.RaisimGymEnv(home_path + "/rsc", "env_config.yaml"), cfg['environment'])
# ------------------------------- # 

But the following error occurred:

Configuration file: "cfg.yaml"
Experiment name: "all_objs"
num envs 376
[2024:03:18:14:27:53 ArticulatedSystem.cpp:376] /data1/ws/Grasp/code/dgrasp/raisimGymTorch/raisimGymTorch/env/envs/dgrasp/../../../../../rsc/mano/: unsupported file type

I'm confused, can you help me solve this problem? Really thankful.

[SanMumumu]

When I downgrade ruamel, it can be compiled (I don't know if this is a good operation). But there are still the following problems

After executing the code ’python raisimGymTorch/env/envs/dgrasp/runner_motion.py -ao -e 'all_objs' -sd 'pretrained_policies' -w 'full_6000.pt', the simulator can display the grabbing interface. But some prompts appeared

And other problems occurred when executing the following codes.

Can you take the time to give me some help? Thank you very much！

[christsa]

Hi,

the missing file indicates a newer version of RaiSim which we don't support. You need to install everything through the D-Grasp repository (RaiSim is already integrated in the codebase). Is it possible you tried to install RaiSim separately from the D-Grasp repo?

For ruamel, downgrading seems to be the correct solution.

[SanMumumu]

Thank you for your help. Now it works. ;)