Errors in playback for sample demonstrations

[AstroTheKat]

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!

[abhihjoshi]

Might be that the demos are outdated potentially? If you install with pip, does it give you the same issue?

[AstroTheKat]

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

[kevin-thankyou-lin]

Oops, you're right - looks like this demo (in demonstrations/handover/panda_panda) is a robomimic format demo - removed from robosuite==1.5.0.

[kevin-thankyou-lin]

@Abhiram824 could you please help convert the wiping demo to the new controller version?

Command to reproduce: $ python robosuite/scripts/playback_demonstrations_from_hdf5.py --folder robosuite/models/assets/demonstrations/wipe/panda/

Error in v1.5 (as expected):
AssertionError: OSC_POSE controller is specified, but not imported or loaded