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google-deepmind / dm_robotics

Libraries, tools and tasks created and used at DeepMind Robotics.

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Dm_Control Dependencies

AlexanderKhazatsky opened this issue · comments

commented

Hello, there is currently an issue when using the IK modules with dm_control==1.0.1 (error below). This is resolved by using dm_control 1.0.5. Could you please update the dependencies?

Traceback (most recent call last):
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/zerorpc/core.py", line 153, in _async_task
functor.pattern.process_call(self._context, bufchan, event, functor)
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/zerorpc/patterns.py", line 30, in process_call
result = functor(*req_event.args)
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/zerorpc/decorators.py", line 44, in call
return self._functor(*args, **kargs)
File "/home/sasha/Desktop/household_robot_dataset/r2d2/franka/robot.py", line 31, in launch_robot
self._ik_solver = RobotIKSolver()
File "/home/sasha/Desktop/household_robot_dataset/r2d2/real_robot_ik/robot_ik_solver.py", line 13, in init
self._physics = mjcf.Physics.from_mjcf_model(self._arm.mjcf_model)
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mjcf/physics.py", line 495, in from_mjcf_model
return cls.from_xml_string(xml_string=xml_string, assets=assets)
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mujoco/engine.py", line 424, in from_xml_string
return cls.from_model(model)
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mujoco/engine.py", line 407, in from_model
return cls(data)
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mujoco/engine.py", line 122, in init
self._reload_from_data(data)
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mjcf/physics.py", line 530, in _reload_from_data
super()._reload_from_data(data)
File "/home/sasha/anaconda3/envs/poly-backup/lib/python3.8/site-packages/dm_control/mujoco/engine.py", line 370, in _reload_from_data
self._warnings_before = np.empty_like(self._warnings)
File "<array_function internals>", line 180, in empty_like
RuntimeError: Caught an unknown exception!

commented

Do you mean the QP-optimization Cartesian controller or the MoMa IK utility (based on the same controller actually)? It's difficult to tell from your stack trace what it is you're doing, but the exception is thrown during instantiation of the mjcf model, so the controller is unlikely to be the cause. By the way both modules are still running fine for me.

commented

Yep! The QP optimization for the IK is exactly what I’m trying to use.

commented

We now use dm_control 1.0.8