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haosulab / ManiSkill2-Learn

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TypeError: Unexpected keyword argument 'device' #6

Closed FredaZero closed 1 year ago

FredaZero commented 1 year ago

Hi,

I was trying to evaluate DAPG+PPO model on PickSingleYCB tasks, I followed the instructions and pass GPU id to the model and run the script. It generated the flowing information:

PickCube-v0-eval - (run_rl.py:392) - INFO - 2023-03-02,15:53:35 - Building evaluation: eval_cfg: {'type': 'Evaluation', 'num_procs': 5, 'num': 100, 'use_hidden_state': False, 'save_traj': False, 'save_video': True, 'log_every_step': False, 'env_cfg': {'type': 'gym', 'env_name': 'PickCube-v0', 'obs_mode': 'rgbd', 'ignore_dones': False, 'control_mode': 'pd_ee_delta_pose', 'device': 'cuda:0'}}

Then an error occur with the flowing message:

File "/home/keyhankouhkiloui/Shiyao/ManiSkill2/mani_skill2/envs/pick_and_place/base_env.py", line 27, in __init__ super().__init__(*args, **kwargs) TypeError: __init__() got an unexpected keyword argument 'device'

Any suggestions? Thanks a lot

xuanlinli17 commented 1 year ago

The error occurred due to breaking change in ManiSkill2 v0.4's renderer gpu configuration. I've fixed the issue. Please pull from the latest code.

In addition, the original pretrained models that were released (in this repo in Oct 2022) does not adapt to the current ManiSkill2 (v0.4) environments where the camera configurations were changed from when these models were trained. This causes significantly worse evaluation results. Please retrain the models yourself for now. If you are already evaluating a model you have trained, this issue will not occur.