All files inside the simhive folder are empty

[ChristosPeridis]

Hello dear Vikash,

I hope you and everyone in your family are doing well. I wanted to use robohive for a Reinforcement Learning project in robotics scenarios. Since I might have to create custom environment I decided to download robohive from the github repository and install it both with mujoco-py and mujoco backends. I am workin on Ubuntu 20.04.06 LTS through WSL2 in Windows11. In this working environment I have made a venv virtual environment with Python 3.8. I have MuJoco200 simulator installed, and the activate file of my environment has the necessary paths for the bin and licence for MuJoco sim. After installing robohive I attempted running the demo command : python -m robohive.utils.examine_env -e FrankaReachRandom-v0 .

However I received the following error:

raceback (most recent call last): File "robohive/utils/examine_env.py", line 110, in main() File "/home/cocp5/robohiveRL02/lib/python3.8/site-packages/click/core.py", line 1130, in call return self.main(args, kwargs) File "/home/cocp5/robohiveRL02/lib/python3.8/site-packages/click/core.py", line 1055, in main rv = self.invoke(ctx) File "/home/cocp5/robohiveRL02/lib/python3.8/site-packages/click/core.py", line 1404, in invoke return ctx.invoke(self.callback, ctx.params) File "/home/cocp5/robohiveRL02/lib/python3.8/site-packages/click/core.py", line 760, in invoke return __callback(args, kwargs) File "robohive/utils/examine_env.py", line 55, in main env = gym.make(env_name) if env_args==None else gym.make(env_name, (eval(env_args))) File "/home/cocp5/robohiveRL02/lib/python3.8/site-packages/gym/envs/registration.py", line 156, in make return registry.make(id, kwargs) File "/home/cocp5/robohiveRL02/lib/python3.8/site-packages/gym/envs/registration.py", line 101, in make env = spec.make(kwargs) File "/home/cocp5/robohiveRL02/lib/python3.8/site-packages/gym/envs/registration.py", line 73, in make env = cls(*_kwargs) File "/home/cocp5/robohive/robohive/envs/arms/reach_base_v0.py", line 41, in init super().init(model_path=model_path, obsd_model_path=obsd_model_path, seed=seed) File "/home/cocp5/robohive/robohive/envs/env_base.py", line 57, in init self.sim = SimScene.get_sim(model_path) File "/home/cocp5/robohive/robohive/physics/sim_scene.py", line 56, in get_sim return SimScene.create(model_handle=model_handle, backend=SimBackend.MUJOCO_PY) File "/home/cocp5/robohive/robohive/physics/sim_scene.py", line 43, in create return mjpy_sim_scene.MjPySimScene(args, **kwargs) File "/home/cocp5/robohive/robohive/physics/sim_scene.py", line 73, in init self.sim = self._load_simulation(model_handle) File "/home/cocp5/robohive/robohive/physics/mjpy_sim_scene.py", line 53, in _load_simulation model = mujoco_py.load_model_from_path(model_handle) File "cymj.pyx", line 175, in mujoco_py.cymj.load_model_from_path Exception: Failed to load XML file: /home/cocp5/robohive/robohive/envs/arms/franka/assets/franka_reach_v0.xml. mj_loadXML error: b"XML Error: Include error: 'XML parse error at line 0, column 0:\nFailed to open file\n'\nElement 'include', line 13, column 5\n"

Then I noticed that the simhive folder was empty.

What did go wrong and how could I fix it ?

Thank you very much in advance for all your valuable help!

Kind regards,

Christos Peridis

[ChristosPeridis]

My bad, I was using the command 'git clone https://github.com/vikashplus/robohive.git' for cloning the repo, whilst I should use the command suggested in the more detailed instruction: 'git clone --branch <tag_name/branch_name> --recursive https://github.com/vikashplus/robohive.git'

[vikashplus]

@ChristosPeridis - Glad you were able to resolve it. I'm curious how was your experience working on RoboHvie via "Ubuntu 20.04.06 LTS through WSL2 in Windows11". If you have a set of instructions, we would love to add it to our documentation.

[ChristosPeridis]

@vikashplus - Hello dear Dr. Vikash,

Thank you very much for your immediate response! I do apologise for my late response, it has been a busy week. From today I started experimenting on RoboHive and I will keep you updated regarding my experience on how it works on "Ubuntu 20.04.06 LTS WSL2 in Windows11". If I notice any strange behaviours I will report back to you, the same I will do in case I manage to resolve any issue that might occur. Furthermore, I would be happy to prepare for you a document with instructions on how I have setup my WSL2 system and the working environment where I am running RoboHive.

Thank you very much!!!

Kind regards,

Christos Peridis

[vikashplus]

That would be amazing! Looking forward to working together.