Comments (8)
xuanlinli17
commented on August 23, 2024
1
README pull request submitted.
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xiqiangliu
commented on August 23, 2024
Yes, the default behavior of replay_trajectory.py is replaying under the obs_mode of the input trajectories. The reason for such design is that some environments could potentially not have a none observation mode and replaying under none will lead to an error. We will update the README soon to point out this behavior.
Thank you for bringing up this suggestion!
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DanielTakeshi
commented on August 23, 2024
@xuanlinli17 Sorry for bumping a closed report (I can make a new one if you want), but how do you suggest dealing with Pour-v0 which has the particles type? If I do something like:
python tools/replay_trajectory.py --traj-path /data/seita/maniskill2/demos/soft_body_envs/Pour-v0/trajectory.h5 --save-traj --target-control-mode pd_joint_delta_pos --num-procs 5
Then I will get:
Traceback (most recent call last):
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/multiprocessing/pool.py", line 125, in worker
result = (True, func(*args, **kwds))
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/multiprocessing/pool.py", line 51, in starmapstar
return list(itertools.starmap(args[0], args[1]))
File "/home/seita/ManiSkill2/tools/replay_trajectory.py", line 266, in _main
ori_env = gym.make(env_id, **ori_env_kwargs)
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/site-packages/gym/envs/registration.py", line 184, in make
return registry.make(id, **kwargs)
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/site-packages/gym/envs/registration.py", line 106, in make
env = spec.make(**kwargs)
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/site-packages/gym/envs/registration.py", line 76, in make
env = cls(**_kwargs)
File "/home/seita/ManiSkill2/mani_skill2/envs/mpm/pour_env.py", line 98, in __init__
super().__init__(*args, **kwargs)
File "/home/seita/ManiSkill2/mani_skill2/envs/mpm/base_env.py", line 92, in __init__
super().__init__(*args, **kwargs)
File "/home/seita/ManiSkill2/mani_skill2/envs/sapien_env.py", line 86, in __init__
raise NotImplementedError("Unsupported obs mode: {}".format(obs_mode))
NotImplementedError: Unsupported obs mode: particles
This is the only remaining environment where I'm not sure about the intended behavior as per the README. The other 7 available envs all seem to be working as intended with tools/replay_trajectory.py as per the current README, when the intent is to only convert actions into control mode and not record observations:
We recommend using our script only for converting actions into different control modes and not record any observation information (i.e. without passing
--obs-mode).
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xuanlinli17
commented on August 23, 2024
We have updated our readme (i.e. passing --obs-mode=none).
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DanielTakeshi
commented on August 23, 2024
Ah! Apologies, I was looking at an older commit. I have tried the command from the existing README and with --obs-mode none (or --obs-mode=none, --obs-mode=None) I get:
(mani_skill2) seita@takeshi:~/ManiSkill2 (main)$ python tools/replay_trajectory.py --traj-path /data/seita/maniskill2/demos/soft_body_envs/Pour-v0/trajectory.h5 --save-traj --target-control-mode pd_joint_delta_pos --obs-mode none --num-procs 5
Warp initialized:
Version: 0.3.1ep/s]
CUDA device: NVIDIA GeForce RTX 3090
Kernel cache: /home/seita/.cache/warp/0.3.1
Warp initialized:ep/s]
Version: 0.3.1
CUDA device: NVIDIA GeForce RTX 3090
Kernel cache: /home/seita/.cache/warp/0.3.1
Warp initialized:
Version: 0.3.1
CUDA device: NVIDIA GeForce RTX 3090
Kernel cache: /home/seita/.cache/warp/0.3.1
Warp initialized:
Version: 0.3.1
CUDA device: NVIDIA GeForce RTX 3090
Kernel cache: /home/seita/.cache/warp/0.3.1
Warp initialized:
Version: 0.3.1
CUDA device: NVIDIA GeForce RTX 3090
Kernel cache: /home/seita/.cache/warp/0.3.1
multiprocessing.pool.RemoteTraceback:
"""
Traceback (most recent call last):
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/multiprocessing/pool.py", line 125, in worker
result = (True, func(*args, **kwds))
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/multiprocessing/pool.py", line 51, in starmapstar
return list(itertools.starmap(args[0], args[1]))
File "/home/seita/ManiSkill2/tools/replay_trajectory.py", line 266, in _main
ori_env = gym.make(env_id, **ori_env_kwargs)
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/site-packages/gym/envs/registration.py", line 184, in make
return registry.make(id, **kwargs)
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/site-packages/gym/envs/registration.py", line 106, in make
env = spec.make(**kwargs)
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/site-packages/gym/envs/registration.py", line 76, in make
env = cls(**_kwargs)
File "/home/seita/ManiSkill2/mani_skill2/envs/mpm/pour_env.py", line 98, in __init__
super().__init__(*args, **kwargs)
File "/home/seita/ManiSkill2/mani_skill2/envs/mpm/base_env.py", line 92, in __init__
super().__init__(*args, **kwargs)
File "/home/seita/ManiSkill2/mani_skill2/envs/sapien_env.py", line 86, in __init__
raise NotImplementedError("Unsupported obs mode: {}".format(obs_mode))
NotImplementedError: Unsupported obs mode: particles
"""
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "tools/replay_trajectory.py", line 423, in <module>
main()
File "tools/replay_trajectory.py", line 404, in main
res = pool.starmap(_main, proc_args)
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/multiprocessing/pool.py", line 372, in starmap
return self._map_async(func, iterable, starmapstar, chunksize).get()
File "/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/multiprocessing/pool.py", line 771, in get
raise self._value
NotImplementedError: Unsupported obs mode: particles
/home/seita/miniconda3/envs/mani_skill2/lib/python3.8/multiprocessing/resource_tracker.py:216: UserWarning: resource_tracker: There appear to be 5 leaked semaphore objects to clean up at shutdown
warnings.warn('resource_tracker: There appear to be %d '
(mani_skill2) seita@takeshi:~/ManiSkill2 (main)$
I also get the same with --obs-mode=pointcloud and --obs-mode=particles, and --obs-mode=rgbd into the above command. Am I using the command correctly? Note that I moved the demos/ directory to a new directory on my hard disk drive in the command but that shouldn't have affected things.
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xuanlinli17
commented on August 23, 2024
Could you redownload the demonstrations? We recently changed all raw soft body demonstrations to use obs_mode=none.
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DanielTakeshi
commented on August 23, 2024
That seems to have fixed it! Thanks for the recommendation to re-download.
Though to clarify this is not going to change the nature of the demonstrations (they will still follow the same trajectory when you visualize them) but just changing some metadata?
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xuanlinli17
commented on August 23, 2024
Yes it is. You can visualize it again.
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