manuelli / key_dynam Goto Github PK

Hi Lucas,

I'm trying to run python3 eval/mpc_eval_drake_pusher_slider.py python3 eval/mpc_eval_drake_pusher_slider.py and/or python3 experiments/drake_pusher_slider/train_and_evaluate.py but it seems like none of them work because some modules are missing from the current github repo.

Specifically:

• dense_correspondence_manipulation
• key_dynam.experiments.exp_09
• dense_correspondence.network
• dense_correspondence.training

don't exist - it'd be great if you could add them in!

Kevin

Hi Lucas, thanks for releasing your code!

I'm trying to run collect_episodes.py for drake_pusher_slider. However, I don't seem to have a few asset files:

  File "/home/thankyou-always/code/key_dynam/envs/drake_pusher_slider.py", line 160, in add_ycb_model_from_sdf
    ycb_model_idx = parser.AddModelFromFile(paths.ycb_model_paths[model_name], model_name)
RuntimeError: drake::parsers::GetFullPath: ERROR: file_name "/home/thankyou-always/code/key_dynam/sim_assets/sugar_box/004_sugar_box.sdf" is not a file.

Do you know where to get these?

Kevin

Thanks for adding the meshes! I'm trying to visualize drake_pusher_slider's collect_episodes.py.

In another terminal (outside the docker container), I run meshcat-server and it gives me http://127.0.0.1:7000/static/ (from reading the pydrake docs). Then, I run python3 collect_episodes.py with visualize=True in the main() function:

    collect_episodes(
        config,
        output_dir=OUTPUT_DIR,
        visualize=True,
        debug=False)

However, the URL contents are 404: Not Found.

Ah! I just needed to set the zmq_url to the correct url rather than "default":

    def connect_to_meshcat(self):
        """
        Connects system to meshcat visualizer
        :return:
        :rtype:
        """
        assert self.is_finalized()
        builder = self.builder
        sg = self.sg

        zmq_url = "tcp://127.0.0.1:6000"
        meshcat = builder.AddSystem(MeshcatVisualizer(sg, zmq_url=zmq_url))
        builder.Connect(sg.get_pose_bundle_output_port(),
                        meshcat.get_input_port(0))

Thanks!