AttributeError: 'MimicHumanoid' object has no attribute self.num_bodies during eval_agent.py execution

[tonywang-0517]

Description

Hi,
I got an error when running the following command:
python phys_anim/eval_agent.py +robot=h1 +backbone=isaacgym +motion_file=data/motions/h1_punch.npy +checkpoint=results/full_body_tracker/lightning_logs/version_0/last.ckpt +headless=False +force_flat_terrain=True

I got:

Loading object assets... ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 100% 0:00:00
=========== Total number of unique objects is 21
Creating 1 environments... ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━   0% -:--:--
Error executing job with overrides: ['+robot=h1', '+backbone=isaacgym', '+motion_file=data/motions/h1_punch.npy', '+checkpoint=results/full_body_tracker/lightning_logs/version_0/last.ckpt', '+headless=False', '+force_flat_terrain=True']
[rank0]: Traceback (most recent call last):
[rank0]:   File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 92, in _call_target
[rank0]:     return _target_(*args, **kwargs)
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/mimic/isaacgym.py", line 39, in __init__
[rank0]:     super().__init__(config, device)
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/mimic/common.py", line 52, in __init__
[rank0]:     super().__init__(config, device, *args, **kwargs)
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/humanoid/isaacgym.py", line 49, in __init__
[rank0]:     super().__init__(config, device)
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/humanoid/common.py", line 80, in __init__
[rank0]:     super().__init__(config, device, *args, **kwargs)
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/base_interface/isaacgym.py", line 64, in __init__
[rank0]:     self.create_sim()
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/humanoid/isaacgym.py", line 226, in create_sim
[rank0]:     self.create_envs(
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/mimic/isaacgym.py", line 52, in create_envs
[rank0]:     super().create_envs(num_envs, spacing, num_per_row)
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/humanoid/isaacgym.py", line 353, in create_envs
[rank0]:     self.build_env(i, env_ptr, humanoid_asset)
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/mimic/isaacgym.py", line 82, in build_env
[rank0]:     self._build_marker(env_id, env_ptr)
[rank0]:   File "/home/tony/workspace/ProtoMotions/phys_anim/envs/mimic/isaacgym.py", line 87, in _build_marker
[rank0]:     num_mimic_tracking_points = self.num_bodies
[rank0]: AttributeError: 'MimicHumanoid' object has no attribute 'num_bodies'

I swapped 2 lines in the following file:

ProtoMotions/phys_anim/envs/humanoid/common.py

Line 79 in 672d700

super().__init__(config, device, *args, **kwargs)

from

super().__init__(config, device, *args, **kwargs)
self.setup_character_props()

to

self.setup_character_props()
super().__init__(config, device, *args, **kwargs)

Then it works.
Hope that can be fixed soon :)

[tesslerc]

Thanks. There was a mismatch in behavior between IsaacGym and Lab.
Split the setup_character_props to handle setup pre-asset loading and post-asset loading.

Pushed an update. Please let me know if you encounter any further issues.

[tonywang-0517]

Thanks for the updates @tesslerc
It seems I found another issue when I try to run
python phys_anim/eval_agent.py +robot=smpl +backbone=isaacgym +opt=masked_mimic/tasks/story +checkpoint=data/pretrained_models/MaskedMimic/last.ckpt +force_flat_terrain=True +motion_file=data/amass/my_amass_test.yaml

I got:

Error executing job with overrides: ['+robot=smpl', '+backbone=isaacgym', '+opt=masked_mimic/tasks/story', '+checkpoint=data/pretrained_models/MaskedMimic/last.ckpt', '+force_flat_terrain=True', '+motion_file=data/amass/test.yaml'] [rank0]: Traceback (most recent call last): [rank0]: File "phys_anim/eval_agent.py", line 124, in <module> [rank0]: main() [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/main.py", line 90, in decorated_main [rank0]: _run_hydra( [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/_internal/utils.py", line 389, in _run_hydra [rank0]: _run_app( [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/_internal/utils.py", line 452, in _run_app [rank0]: run_and_report( [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/_internal/utils.py", line 216, in run_and_report [rank0]: raise ex [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/_internal/utils.py", line 213, in run_and_report [rank0]: return func() [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/_internal/utils.py", line 453, in <lambda> [rank0]: lambda: hydra.run( [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/_internal/hydra.py", line 132, in run [rank0]: _ = ret.return_value [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/core/utils.py", line 260, in return_value [rank0]: raise self._return_value [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/hydra/core/utils.py", line 186, in run_job [rank0]: ret.return_value = task_function(task_cfg) [rank0]: File "phys_anim/eval_agent.py", line 120, in main [rank0]: algo.evaluate_policy() [rank0]: File "/home/tony/miniconda3/envs/isaacgym/lib/python3.8/site-packages/torch/utils/_contextlib.py", line 116, in decorate_context [rank0]: return func(*args, **kwargs) [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/agents/ppo.py", line 872, in evaluate_policy [rank0]: self.pre_evaluate_policy() [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/agents/ppo.py", line 900, in pre_evaluate_policy [rank0]: self.handle_reset() [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/agents/mimic_vae.py", line 86, in handle_reset [rank0]: super().handle_reset(done_indices) [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/agents/amp.py", line 238, in handle_reset [rank0]: super().handle_reset(done_indices) [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/agents/ppo.py", line 421, in handle_reset [rank0]: self.env.reset(done_indices) [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/envs/humanoid/common.py", line 506, in reset [rank0]: self.reset_envs(env_ids) [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/envs/masked_mimic/tasks/base_task/common.py", line 62, in reset_envs [rank0]: super().reset_envs(env_ids) [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/envs/humanoid/isaacgym.py", line 1146, in reset_envs [rank0]: self.compute_observations(env_ids) [rank0]: File "/home/tony/workspace/ProtoMotions/phys_anim/envs/masked_mimic/tasks/story/common.py", line 261, in compute_observations [rank0]: objects_bounding_box = self.object_id_to_object_bounding_box[self.scene_ids] [rank0]: TypeError: 'method' object is not subscriptable

[tesslerc]

Thanks
The MaskedMimic tasks are there mainly as an example and aren't maintained or ensured to run properly.
We'll make sure to clarify that in the docs.