run_policy.ipynb error

[seann999]

When trying to play the trajectory:

Playing back demo key: demo_0
---------------------------------------------------------------------------
ValueError                                Traceback (most recent call last)
<ipython-input-14-b0a68c6d2406> in <module>
      2 for ep in demos[:5]:
      3     print("Playing back demo key: {}".format(ep))
----> 4     playback_trajectory(ep)
      5 
      6 # done writing video

<ipython-input-13-455a7b8775a3> in playback_trajectory(demo_key)
     13 
     14     # reset to initial state
---> 15     env.reset_to(initial_state_dict)
     16 
     17     # playback actions one by one, and render frames

~/.local/lib/python3.8/site-packages/robomimic/envs/env_robosuite.py in reset_to(self, state)
    133             self.reset()
    134             xml = postprocess_model_xml(state["model"])
--> 135             self.env.reset_from_xml_string(xml)
    136             self.env.sim.reset()
    137             if not self._is_v1:

~/.local/lib/python3.8/site-packages/robosuite/environments/base.py in reset_from_xml_string(self, xml_string)
    537 
    538         # Now reset as normal
--> 539         self.reset()
    540 
    541         # Turn off deterministic reset

~/.local/lib/python3.8/site-packages/robosuite/environments/base.py in reset(self)
    263 
    264         # Reset necessary robosuite-centric variables
--> 265         self._reset_internal()
    266         self.sim.forward()
    267         # Setup observables, reloading if

~/.local/lib/python3.8/site-packages/robosuite/environments/manipulation/lift.py in _reset_internal(self)
    387         Resets simulation internal configurations.
    388         """
--> 389         super()._reset_internal()
    390 
    391         # Reset all object positions using initializer sampler if we're not directly loading from an xml

~/.local/lib/python3.8/site-packages/robosuite/environments/robot_env.py in _reset_internal(self)
    508         """
    509         # Run superclass reset functionality
--> 510         super()._reset_internal()
    511 
    512         # Reset controllers

~/.local/lib/python3.8/site-packages/robosuite/environments/base.py in _reset_internal(self)
    316         # additional housekeeping
    317         self.sim_state_initial = self.sim.get_state()
--> 318         self._setup_references()
    319         self.cur_time = 0
    320         self.timestep = 0

~/.local/lib/python3.8/site-packages/robosuite/environments/manipulation/lift.py in _setup_references(self)
    333         in a flatten array, which is how MuJoCo stores physical simulation data.
    334         """
--> 335         super()._setup_references()
    336 
    337         # Additional object references from this env

~/.local/lib/python3.8/site-packages/robosuite/environments/robot_env.py in _setup_references(self)
    311         in a flatten array, which is how MuJoCo stores physical simulation data.
    312         """
--> 313         super()._setup_references()
    314 
    315         # Setup robot-specific references as well (note: requires resetting of sim for robot first)

~/.local/lib/python3.8/site-packages/robosuite/environments/base.py in _setup_references(self)
    216         """
    217         # Setup mappings from model to IDs
--> 218         self.model.generate_id_mappings(sim=self.sim)
    219 
    220     def _setup_observables(self):

~/.local/lib/python3.8/site-packages/robosuite/models/tasks/task.py in generate_id_mappings(self, sim)
    114             id_groups = [
    115                 get_ids(sim=sim, elements=model.visual_geoms + model.contact_geoms, element_type="geom"),
--> 116                 get_ids(sim=sim, elements=model.sites, element_type="site"),
    117             ]
    118             group_types = ("geom", "site")

~/.local/lib/python3.8/site-packages/robosuite/utils/mjcf_utils.py in get_ids(sim, elements, element_type, inplace)
    887     else:  # We assume this is an iterable array
    888         assert isinstance(elements, Iterable), "Elements must be iterable for get_id!"
--> 889         elements = [get_ids(sim=sim, elements=ele, element_type=element_type, inplace=True) for ele in elements]
    890 
    891     return elements

~/.local/lib/python3.8/site-packages/robosuite/utils/mjcf_utils.py in <listcomp>(.0)
    887     else:  # We assume this is an iterable array
    888         assert isinstance(elements, Iterable), "Elements must be iterable for get_id!"
--> 889         elements = [get_ids(sim=sim, elements=ele, element_type=element_type, inplace=True) for ele in elements]
    890 
    891     return elements

~/.local/lib/python3.8/site-packages/robosuite/utils/mjcf_utils.py in get_ids(sim, elements, element_type, inplace)
    880             elements = sim.model.body_name2id(elements)
    881         else:  # site
--> 882             elements = sim.model.site_name2id(elements)
    883     elif isinstance(elements, dict):
    884         # Iterate over each element in dict and recursively repeat

wrappers.pxi in mujoco_py.cymj.PyMjModel.site_name2id()

ValueError: No "site" with name gripper0_ee_x exists. Available "site" names = ('table_top', 'robot0_ee', 'robot0_ee_x', 'robot0_ee_z', 'robot0_ee_y', 'gripper0_ft_frame', 'gripper0_grip_site', 'gripper0_grip_site_cylinder', 'cube_default_site').

[cremebrule]

Hi @seann999 ,

Which version of robosuite are you on? You should be on offline_study for playbacks to work.

[amandlek]

Closing this issue - please re-open if issues persist.