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rr-learning / CausalWorld

CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning
https://sites.google.com/view/causal-world/home
MIT License
205 stars 25 forks source link

trifinger_pro #97

Closed s-bl closed 3 years ago

s-bl commented 3 years ago

Hey,

I would like to use trifingerpro (trifinger) but there are some stl files missing (SIM*.stl). Is it possible to add them again? Also I get the following error, if I try to run the pro version (with the stl files taken from the challenge code)

Traceback (most recent call last):
  File "~/.local/share/virtualenvs/mbrl-COlWRWWx/src/causalworld/python/src/causal_world/task_generators/base_task.py", line 677, in init_task
    self.save_state()
  File "~/.local/share/virtualenvs/mbrl-COlWRWWx/src/causalworld/python/src/causal_world/task_generators/base_task.py", line 157, in save_state
    self._robot.get_full_env_state()
  File "~/.local/share/virtualenvs/mbrl-COlWRWWx/src/causalworld/python/src/causal_world/envs/robot/trifinger.py", line 118, in get_full_env_state
    return self.get_current_scm_values()
  File "~/.local/share/virtualenvs/mbrl-COlWRWWx/src/causalworld/python/src/causal_world/envs/robot/trifinger.py", line 539, in get_current_scm_values
    [WorldConstants.VISUAL_SHAPE_IDS[robot_finger_link]][7][:3]
IndexError: tuple index out of range

Best, Sebastian

ossamaAhmed commented 3 years ago

Hey Sebastian,

We only support now the trifinger edu version in causal_world package. There are more changes to the code than just the *.stl files so just replacing them won't work. Is it possible for you to switch to the edu version? sorry for the trouble.

Let me know if you have other concerns.