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facebookresearch / Active-3D-Vision-and-Touch

A repository for the paper Active 3D Shape Reconstruction from Vision and Touch and robotic touch simulator package.
MIT License
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filepath error #4

Closed Araik-77 closed 1 year ago

Araik-77 commented 1 year ago

thank you for your sharing when I run policies, such as "Random.ipyb", I get "error: Cannot load URDF file."

b3Warning[examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h,102]: /home/sda/zcy/active3d/active_pycharm_data/pterotactyl/object_data/object_info/26766.urdf:17: cannot find '/private/home/ejsmith/projects/active/ActiveTouch/pterotactyl/object_data/object_info/26766.obj' 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]: baseLinkb3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]: failed to parse link

` error Traceback (most recent call last) Cell In[1], line 40 38 params = Params() 39 random_test = rand.Engine(params) ---> 40 random_test()

File /home/sda/zcy/active3d/active_pycharm_data/pterotactyl/policies/baselines/rand.py:33, in Engine.call(self) 31 # compute accuracy 32 with torch.no_grad(): ---> 33 self.validate(valid_loaders)

File /home/sda/zcy/active3d/active_pycharm_data/pterotactyl/policies/baselines/rand.py:54, in Engine.validate(self, dataloader) 52 for v, batch in enumerate(tqdm(dataloader)): 53 names += batch["names"] ---> 54 obs = self.env.reset(batch) 55 all_done = False 56 cur_scores = [obs["score"]]

File /home/sda/zcy/active3d/active_pycharm_data/pterotactyl/policies/environment.py:151, in ActiveTouch.reset(self, batch) 147 self.current_data["batch"] = batch 148 self.current_data["mask"] = torch.zeros( 149 [self.args.env_batch_size, self.args.num_actions] 150 ) --> 151 self.sampler.load_objects(batch["names"], from_dataset=True) 152 obs = self.compute_obs() 153 self.current_data["score"] = obs["score"]

File /home/sda/zcy/active3d/active_pycharm_data/pterotactyl/simulator/scene/sampler.py:83, in Sampler.load_objects(self, batch, from_dataset, scale) 80 verts, faces = utils.get_obj_data(obj_location, scale=scale) 81 utils.make_urdf(verts, faces, urdf_location) ---> 83 self.pybullet_scenes[i].load_obj(verts, faces, urdf_location)

File /home/sda/zcy/active3d/active_pycharm_data/pterotactyl/simulator/scene/instance.py:90, in Scene.load_obj(self, verts, faces, urdf_location) 88 faces = utils.add_faces(faces) 89 # loading into pybullet ---> 90 self.obj = self.pb.loadURDF( 91 urdf_location, [0, 0, 0], [0, 0, 0, 1], useFixedBase=1 92 ) 94 # loading into pyrender 95 mesh = trimesh.Trimesh(vertices=verts, faces=faces, process=False)

error: Cannot load URDF file.`

I try to change "check_point" in pretrained config.json, but it does not work, do you think there are some absolute path cause this?