Bug when run maniskill3 branch

[LukeLIN-web]

1. SimplerEnv/simpler_env/utils/env/env_builder.py should delete this line# import mani_skill2_real2sim.envs

Traceback (most recent call last):
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 802, in make
    env = env_creator(**env_spec_kwargs)
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/utils/registration.py", line 182, in make
    env = env_spec.make(**kwargs)
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/utils/registration.py", line 79, in make
    return self.cls(**_kwargs)
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/put_on_in_scene.py", line 57, in __init__
    super().__init__(
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py", line 198, in __init__
    super().__init__(
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/envs/tasks/digital_twins/base_env.py", line 67, in __init__
    super().__init__(**kwargs)
TypeError: BaseEnv.__init__() got an unexpected keyword argument 'robot'

 File "/home/user1/workspace/SimplerEnv/simpler_env/main_inference.py", line 155, in <module>
    success_arr = maniskill2_evaluator(model, args)
  File "/home/user1/workspacimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py", line 234, in maniskill2_evaluator
    run_maniskill2_eval_single_episode(
  File "/home/user1/workspaceSimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py", line 63, in run_maniskill2_eval_single_episode
    env = build_maniskill2_env(
  File "/home/user1/workspaceSimplerEnv/simpler_env/utils/env/env_builder.py", line 17, in build_maniskill2_env
    env = gym.make(env_name, **kwargs)
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 814, in make
    raise type(e)(
TypeError: BaseEnv.__init__() got an unexpected keyword argument 'robot' was raised from the environment creator for PutCarrotOnPlateInScene-v1 with kwargs ({'obs_mode': 'rgbd', 'robot': 'widowx', 'sim_freq': 500, 'control_mode': 'arm_pd_ee_target_delta_pose_align2_gripper_pd_joint_pos', 'control_freq': 5, 'scene_name': 'bridge_table_1_v1', 'camera_cfgs': {'add_segmentation': True}, 'rgb_overlay_path': 'ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png', 'rgb_overlay_cameras': ['3rd_view_camera']})

I delete --robot ${robot} in script , but still has error TypeError: BaseEnv.__init__() got an unexpected keyword argument 'robot' was raised from the environment creator for PutCarrotOnPlateInScene-v1 with kwar

Does it because gym version ==0.28? Should I upgrade to >1.0?

I tried remove here
SimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py

# Create environment kwargs = dict( obs_mode="rgbd", # robot=robot_name,

But it cause if "google_robot_static" in kwargs["robot"]: KeyError: 'robot'

I tried pop it

kwargs.pop("robot", None) kwargs.pop("sim_freq", None) kwargs.pop("control_freq", None) kwargs.pop("scene_name", None) kwargs.pop("camera_cfgs", None) kwargs.pop("rgb_overlay_path", None) kwargs.pop("rgb_overlay_cameras", None)

Why it shows all keyerror ? TypeError: BaseEnv.__init__() got an unexpected keyword argument 'scene_name' was raised from the environment creator for PutCarrotOnPlateInScene-v1 with kwargs ({'obs_mode': 'rgbd', 'control_mode': 'arm_pd_ee_delta_pose_align_interpolate_by_planner_gripper_pd_joint_target_delta_pos_interpolate_by_planner', 'scene_name': 'bridge_table_1_v1', 'camera_cfgs': {'add_segmentation': True}, 'rgb_overlay_path': 'ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png', 'rgb_overlay_cameras': ['overhead_camera']})

NotImplementedError: Unsupported obs mode: rgbd. Must be one of ['rgb+segmentation']

change here SimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py obs_mode="rgb+segmentation",

AssertionError: arm_pd_ee_delta_pose_align_interpolate_by_planner_gripper_pd_joint_target_delta_pos_interpolate_by_planner not in supported modes: ['arm_pd_ee_target_delta_pose_align2_gripper_pd_joint_pos']
change here SimplerEnv/simpler_env/utils/env/env_builder.py

[xuanlinli17]

@StoneT2000

[StoneT2000]

Can you try robot_uids=robot instead? The code might be a bit outdated now, there was a few small changes to maniskill3 API.