JeanElsner
commented
1 year ago Do you mean the QP-optimization Cartesian controller or the MoMa IK utility (based on the same controller actually)? It's difficult to tell from your stack trace what it is you're doing, but the exception is thrown during instantiation of the mjcf model, so the controller is unlikely to be the cause. By the way both modules are still running fine for me.
AlexanderKhazatsky
shacklestone
Hello, there is currently an issue when using the IK modules with dm_control==1.0.1 (error below). This is resolved by using dm_control 1.0.5. Could you please update the dependencies?
Traceback (most recent call last): File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/zerorpc/core.py", line 153, in _async_task functor.pattern.process_call(self._context, bufchan, event, functor) File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/zerorpc/patterns.py", line 30, in process_call result = functor(req_event.args) File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/zerorpc/decorators.py", line 44, in call return self._functor(args, **kargs) File "/home/sasha/Desktop/household_robot_dataset/r2d2/franka/robot.py", line 31, in launch_robot self._ik_solver = RobotIKSolver() File "/home/sasha/Desktop/household_robot_dataset/r2d2/real_robot_ik/robot_ik_solver.py", line 13, in init self._physics = mjcf.Physics.from_mjcf_model(self._arm.mjcf_model) File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mjcf/physics.py", line 495, in from_mjcf_model return cls.from_xml_string(xml_string=xml_string, assets=assets) File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mujoco/engine.py", line 424, in from_xml_string return cls.from_model(model) File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mujoco/engine.py", line 407, in from_model return cls(data) File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mujoco/engine.py", line 122, in init self._reload_from_data(data) File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mjcf/physics.py", line 530, in _reload_from_data super()._reload_from_data(data) File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mujoco/engine.py", line 370, in _reload_from_data self._warnings_before = np.empty_like(self._warnings) File "<__array_function__ internals>", line 180, in empty_like RuntimeError: Caught an unknown exception!