Many errors in this repo
Opened this issue · 3 comments
BillMatrix commented
I encountered many issues when using this repo:
- there's no 'point_mass' "body" in the given model:
Here's the error:
Traceback (most recent call last):
File "/Users/billzhu/.conda/envs/rep_learning/lib/python3.7/site-packages/IPython/core/interactiveshell.py", line 3325, in run_code
exec(code_obj, self.user_global_ns, self.user_ns)
File "<ipython-input-5-d7bebc982a78>", line 1, in <module>
env.get_body_com('point_mass')
File "/Users/billzhu/.conda/envs/rep_learning/lib/python3.7/site-packages/gym/envs/mujoco/mujoco_env.py", line 168, in get_body_com
return self.data.get_body_xpos(body_name)
File "mujoco_py/generated/wrappers.pxi", line 2604, in mujoco_py.cymj.PyMjData.get_body_xpos
File "mujoco_py/generated/wrappers.pxi", line 1019, in mujoco_py.cymj.PyMjModel.body_name2id
ValueError: No "body" with name point_mass exists. Available "body" names = ('world', 'object1', 'object2', 'object3', 'object4', 'object5', 'r_wrist_flex_link', 'r_wrist_roll_link', 'tips_arm').
- The default XML you provide only has three objects, which causes error in the code.
- You did not define physics in the environment, where the camera uses. Also the camera_setup function does not exist on line 274 of env.py
- The mujoco environment you use I think is the deepmind's control environment (dm_control.mujoco), whose physics' qpos and qvel does not match openai gym's mujoco_env's qpos and qvel, which causes errors when taking any actions
- I don't know which mujoco_env you are using, but mujoco_env does not have the following two arguments:
max_episode_steps=maximum_episode_steps,
reward_threshold=0.,
yidingjiang commented
Hi Bill,
You are right the mujoco env that I am using is a wrapper around deepmind control environment. I am working on a fix and hope to patch the code this week.
yidingjiang commented
All these issues should be fixed now. Can you pull the latest code and confirm this?
BillMatrix commented
Thanks! I'll take a look tonight!