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ir-lab / irl_control

Mujoco Control Suite for Bimanual Manipulation
MIT License
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Regarding robot configuration issues. #5

Closed Xu-robot-learning closed 2 months ago

Xu-robot-learning commented 11 months ago

When I execute force_test.py file, the problem appears on line 79: if self.name == "ur5right" or self.name == "ur5left": self.sim.qpos[self.joint_ids] = np.copy(self.start_angles) rerurn the error: shape mismatch: value array of shape (6,) could not be broadcast to indexing result of shape (7,). Can you tell me why and how to modify code？Thanks！

kavinwkp commented 10 months ago

You can add a dimension to start_angles in default_xyz.yaml, e.g. start_angles: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] for ur5right and start_angles: [0.126, -0.942, -1.88, -4.15, -4.78, 0.0, 0.0] for ur5left.

HaMengder commented 9 months ago

Adding a dimension can avoid errors, but UR5 has a pose problem and should put the added dimension in the first place. eg start_angles: [0.0, 0.126, -0.942, -1.88, -4.15, -4.78, 0.0]

mdrolet01 commented 2 months ago

Hello, sorry for the late reply here. From what I recall, there may be a yaml mismatch with the device.py file. If you are still interested, you can find a newer/working version of irl_control here: https://github.com/ir-lab/bimanual-imitation, which shouldn't have this problem.