How to generate demos with Panda

[feup-jmc]

Hello, I would like to use the existing Panda model to generate assembly task demos much like with Sawyer.

The feature does not seem to exist natively, so I tried hacking it into IKEA by copying the furniture_sawyer_dense.py and furniture_sawyer_gen.py files and renaming all instances of sawyer to panda, but sure enough this doesn't work. The culprit seems to be the fact that the gripper for sawyer has and additional degree of freedom for grip_tip, hence the following error:

Traceback (most recent call last):
  File "~/anaconda3/envs/base/lib/python3.7/runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "~/anaconda3/envs/base/lib/python3.7/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "~/skill-chaining/furniture/furniture/env/furniture_panda_gen.py", line 748, in <module>
    main()
  File "~/skill-chaining/furniture/furniture/env/furniture_panda_gen.py", line 743, in main
    env = FurniturePandaGenEnv(config)
  File "~/skill-chaining/furniture/furniture/env/furniture_panda_gen.py", line 105, in __init__
    self.reset()
  File "~/skill-chaining/furniture/furniture/env/furniture.py", line 326, in reset
    self._reset(furniture_id=furniture_id, background=background)
  File "~/skill-chaining/furniture/furniture/env/furniture_panda_dense.py", line 220, in _reset
    self._reset_reward_variables()
  File "~/skill-chaining/furniture/furniture/env/furniture_panda_dense.py", line 139, in _reset_reward_variables
    self._update_reward_variables()
  File "~/skill-chaining/furniture/furniture/env/furniture_panda_dense.py", line 177, in _update_reward_variables
    eef_pos = self._get_pos("griptip_site")
  File "~/skill-chaining/furniture/furniture/env/furniture.py", line 3131, in _get_pos
    raise ValueError
ValueError

As I am not too familiar with how these models are defined, I would like to ask for some help in making this change work.

[Xiangyu-Lee]

Did you successfully generate the demo by using the panda? I have the same question as you. I want to use the baxter to generate the demo.