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ARISE-Initiative
Errors in playback for sample demonstrations
I'm on an M1 MacBook with robosuite installed from source (on the master branch).
I've run into errors with playback for all of the sample demonstrations in robosuite/models/assets/demonstrations, when running python playback_demonstrations_from_hdf5.py from the robosuite/scripts folder.
The command python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/lift/ gives me the error:
Output
Playing back random episode... (press ESC to quit)
Traceback (most recent call last):
File "/Users/astro/robosuite/robosuite/scripts/playback_demonstrations_from_hdf5.py", line 70, in <module>
env.reset_from_xml_string(xml)
File "/Users/astro/robosuite/robosuite/environments/base.py", line 560, in reset_from_xml_string
self.reset()
File "/Users/astro/robosuite/robosuite/environments/base.py", line 258, in reset
self._reset_internal()
File "/Users/astro/robosuite/robosuite/environments/manipulation/lift.py", line 389, in _reset_internal
super()._reset_internal()
File "/Users/astro/robosuite/robosuite/environments/robot_env.py", line 510, in _reset_internal
super()._reset_internal()
File "/Users/astro/robosuite/robosuite/environments/base.py", line 305, in _reset_internal
self._setup_references()
File "/Users/astro/robosuite/robosuite/environments/manipulation/lift.py", line 335, in _setup_references
super()._setup_references()
File "/Users/astro/robosuite/robosuite/environments/robot_env.py", line 313, in _setup_references
super()._setup_references()
File "/Users/astro/robosuite/robosuite/environments/base.py", line 206, in _setup_references
self.model.generate_id_mappings(sim=self.sim)
File "/Users/astro/robosuite/robosuite/models/tasks/task.py", line 115, in generate_id_mappings
get_ids(sim=sim, elements=model.visual_geoms + model.contact_geoms, element_type="geom"),
File "/Users/astro/robosuite/robosuite/utils/mjcf_utils.py", line 853, in get_ids
elements = [get_ids(sim=sim, elements=ele, element_type=element_type, inplace=True) for ele in elements]
File "/Users/astro/robosuite/robosuite/utils/mjcf_utils.py", line 853, in <listcomp>
elements = [get_ids(sim=sim, elements=ele, element_type=element_type, inplace=True) for ele in elements]
File "/Users/astro/robosuite/robosuite/utils/mjcf_utils.py", line 842, in get_ids
elements = sim.model.geom_name2id(elements)
File "/Users/astro/robosuite/robosuite/utils/binding_utils.py", line 393, in geom_name2id
raise ValueError('No "geom" with name %s exists. Available "geom" names = %s.' % (name, self.geom_names))
ValueError: No "geom" with name robot0_link7_collision exists. Available "geom" names = ('floor', 'wall_leftcorner_visual', 'wall_rightcorner_visual', 'wall_left_visual', 'wall_right_visual', 'wall_rear_visual', 'wall_front_visual', 'table_collision', 'table_visual', 'table_leg1_visual', 'table_leg2_visual', 'table_leg3_visual', 'table_leg4_visual', 'robot0_g0_vis', 'robot0_g1_vis', 'robot0_g2_vis', 'robot0_g3_vis', 'robot0_g4_vis', 'robot0_g5_vis', 'robot0_g6_vis', 'robot0_g7_vis', 'robot0_g8_vis', 'robot0_g9_vis', 'robot0_g10_vis', 'robot0_g11_vis', 'robot0_link0_collision', 'robot0_g12_vis', 'robot0_link1_collision', 'robot0_g13_vis', 'robot0_link2_collision', 'robot0_g14_vis', 'robot0_g15_vis', 'robot0_g16_vis', 'robot0_g17_vis', 'robot0_link3_collision', 'robot0_g18_vis', 'robot0_g19_vis', 'robot0_g20_vis', 'robot0_g21_vis', 'robot0_link4_collision', 'robot0_g22_vis', 'robot0_g23_vis', 'robot0_g24_vis', 'robot0_link5_collision', 'robot0_g25_vis', 'robot0_g26_vis', 'robot0_g27_vis', 'robot0_g28_vis', 'robot0_g29_vis', 'robot0_g30_vis', 'robot0_g31_vis', 'robot0_g32_vis', 'robot0_g33_vis', 'robot0_g34_vis', 'robot0_g35_vis', 'robot0_g36_vis', 'robot0_g37_vis', 'robot0_g38_vis', 'robot0_g39_vis', 'robot0_g40_vis', 'robot0_g41_vis', 'robot0_link6_collision', 'robot0_g42_vis', 'robot0_g43_vis', 'robot0_g44_vis', 'robot0_g45_vis', 'robot0_g46_vis', 'robot0_g47_vis', 'robot0_g48_vis', 'robot0_g49_vis', 'gripper0_hand_visual', 'gripper0_hand_collision', 'gripper0_finger1_visual', 'gripper0_finger1_collision', 'gripper0_finger1_pad_collision', 'gripper0_finger2_visual', 'gripper0_finger2_collision', 'gripper0_finger2_pad_collision', 'mount0_controller_box_col', 'mount0_pedestal_feet_col', 'mount0_torso_vis', 'mount0_pedestal_vis', 'mount0_pedestal_col', 'cube_g0', 'cube_g0_vis').
The command python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/handover/panda_panda gives me the error:
Output
Traceback (most recent call last):
File "/Users/astro/robosuite/robosuite/scripts/playback_demonstrations_from_hdf5.py", line 44, in <module>
env_info = json.loads(f["data"].attrs["env_info"])
File "h5py/_objects.pyx", line 54, in h5py._objects.with_phil.wrapper
File "h5py/_objects.pyx", line 55, in h5py._objects.with_phil.wrapper
File "/opt/homebrew/Caskroom/miniforge/base/envs/robosuite/lib/python3.9/site-packages/h5py/_hl/attrs.py", line 56, in __getitem__
attr = h5a.open(self._id, self._e(name))
File "h5py/_objects.pyx", line 54, in h5py._objects.with_phil.wrapper
File "h5py/_objects.pyx", line 55, in h5py._objects.with_phil.wrapper
File "h5py/h5a.pyx", line 80, in h5py.h5a.open
KeyError: "Can't open attribute (can't locate attribute: 'env_info')"
The command python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/wipe/panda gives me the error (possibly related to #303):
Output
Playing back random episode... (press ESC to quit)
Traceback (most recent call last):
File "/Users/astro/robosuite/robosuite/scripts/playback_demonstrations_from_hdf5.py", line 69, in <module>
xml = env.edit_model_xml(model_xml)
File "/Users/astro/robosuite/robosuite/environments/base.py", line 523, in edit_model_xml
tree = ET.fromstring(xml_str)
File "/opt/homebrew/Caskroom/miniforge/base/envs/robosuite/lib/python3.9/xml/etree/ElementTree.py", line 1343, in XML
return parser.close()
xml.etree.ElementTree.ParseError: syntax error: line 1, column 0
Any idea what might be happening here? Thank you!
Might be that the demos are outdated potentially? If you install with pip, does it give you the same issue?
Thanks for the suggestion! I switched to the pip installation. The lift demo works now, but I get what looks like the same errors for handover and wipe.
For python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/handover/panda_panda, I get:
Traceback (most recent call last):
File "/Users/astro/robosuite/robosuite/scripts/playback_demonstrations_from_hdf5.py", line 44, in <module>
env_info = json.loads(f["data"].attrs["env_info"])
File "h5py/_objects.pyx", line 54, in h5py._objects.with_phil.wrapper
File "h5py/_objects.pyx", line 55, in h5py._objects.with_phil.wrapper
File "/opt/homebrew/Caskroom/miniforge/base/envs/robosuite/lib/python3.9/site-packages/h5py/_hl/attrs.py", line 56, in __getitem__
attr = h5a.open(self._id, self._e(name))
File "h5py/_objects.pyx", line 54, in h5py._objects.with_phil.wrapper
File "h5py/_objects.pyx", line 55, in h5py._objects.with_phil.wrapper
File "h5py/h5a.pyx", line 80, in h5py.h5a.open
KeyError: "Can't open attribute (can't locate attribute: 'env_info')"
For python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/wipe/panda, I get:
Playing back random episode... (press ESC to quit)
Traceback (most recent call last):
File "/Users/astro/robosuite/robosuite/scripts/playback_demonstrations_from_hdf5.py", line 69, in <module>
xml = env.edit_model_xml(model_xml)
File "/Users/astro/robosuite/robosuite/environments/base.py", line 520, in edit_model_xml
tree = ET.fromstring(xml_str)
File "/opt/homebrew/Caskroom/miniforge/base/envs/robosuite/lib/python3.9/xml/etree/ElementTree.py", line 1343, in XML
return parser.close()
xml.etree.ElementTree.ParseError: syntax error: line 1, column 0