[Polymetis] `launch_robot.py robot_client=bullet_sim` crashes due to missing hydra conf values

[Harimus]

Type of Issue

Select the type of issue:

• Bug report (to report a bug)
• Feature request (to request an additional feature)
• Tracker (I am just using this as a tracker)
• Refactor request
• Documentation Ask

Description

When I follow the polymetis usage page and run the script for simulation mode launch_robot.py robot_client=bullet_sim use_real_time=false gui=[true|false]
I get the following error

  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/utils.py", line 70, in call
    raise HydraException(f"Error calling '{cls}' : {e}") from e
hydra.errors.HydraException: Error calling 'polymetis.robot_client.metadata.RobotClientMetadata' : str interpolation key 'default_Kq' not found
	full_key: default_Kq
	reference_type=Any
	object_type=dict

After checking around, simply replacing the config values in bullet_sim.yaml line 16-19 (default_Kqetc)

fairo/polymetis/polymetis/conf/robot_client/bullet_sim.yaml

Line 16 in 0a01a7f

default_Kq: ${default_Kq}

with that of empty_statistics_client.yaml values worked. Specifying those value at runtime like the bullet_sim.yamlfile seems to be (intended to?) used, like

launch_robot.py robot_client=bullet_sim default_Kq=[0, 0, 0, 0, 0, 0, 0]

Errors out that default_Kq is not defined in hydra, while following work

launch_robot.py robot_client=bullet_sim robot_client.metadata_cfg.default_Kq=[0,0,0,0,0,0,0] robot_client.metadata_cfg.default_Kqd=[0,0,0,0,0,0,0] robot_client.metadata_cfg.default_Kx=[0,0,0,0,0,0,0] robot_client.metadata_cfg.default_Kxd=[0,0,0,0,0,0,0]

Current Behavior

Currently the code (graciously) crashes.

Expected Behavior

Supposed to run the simulation server, probably with some appropriate default_K values? (I assume those are PID controller gains?)

Steps to reproduce

1. Install Polymetis using micromamba (conda install just freezes for me) follow the install instructions. If using micromamba change the following line from conda listto micromamba list in this file

   fairo/polymetis/polymetis/python/polymetis/_version.py

   Line 11 in 0a01a7f

   stream = os.popen("conda list | grep polymetis")

   at your install location. (maybe supporting micromamba should also be raised as an issue?)
2. run the command launch_robot.py robot_client=bullet_sim use_real_time=false gui=[true|false]
   Output: (username replaced)

(polymetis) user@nuc:~$ launch_robot.py robot_client=bullet_sim
/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/plugins/config_source.py:190: UserWarning: 
Missing @package directive robot_client/bullet_sim.yaml in pkg://polymetis.conf.
See https://hydra.cc/docs/next/upgrades/0.11_to_1.0/adding_a_package_directive
  warnings.warn(message=msg, category=UserWarning)
[2024-03-05 17:33:15,716][__main__][INFO] - Adding /home/user/micromamba/envs/polymetis/lib/python3.8/build to $PATH
[2024-03-05 17:33:15,717][__main__][INFO] - Starting server
[2024-03-05 17:33:15.894] [info] Using real time: false
[2024-03-05 17:33:15.894] [info] Using server address: localhost:50051
[2024-03-05 17:33:15.895] [info] Server listening on localhost:50051
[2024-03-05 17:33:15,926][__main__][INFO] - Starting robot client...
pybullet build time: Nov  5 2021 11:53:36
Traceback (most recent call last):
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/utils.py", line 63, in call
    return _instantiate_class(type_or_callable, config, *args, **kwargs)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/_internal/utils.py", line 499, in _instantiate_class
    final_kwargs = _get_kwargs(config, **kwargs)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/_internal/utils.py", line 604, in _get_kwargs
    final_kwargs[k] = params[k]
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/omegaconf/dictconfig.py", line 321, in __getitem__
    self._format_and_raise(key=key, value=None, cause=e)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/omegaconf/base.py", line 95, in _format_and_raise
    format_and_raise(
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/omegaconf/_utils.py", line 694, in format_and_raise
    _raise(ex, cause)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/omegaconf/_utils.py", line 610, in _raise
    raise ex  # set end OC_CAUSE=1 for full backtrace
omegaconf.errors.ConfigKeyError: str interpolation key 'default_Kq' not found
	full_key: default_Kq
	reference_type=Any
	object_type=dict

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/utils.py", line 63, in call
    return _instantiate_class(type_or_callable, config, *args, **kwargs)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/_internal/utils.py", line 500, in _instantiate_class
    return clazz(*args, **final_kwargs)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/polysim/grpc_sim_client.py", line 64, in __init__
    super().__init__(metadata_cfg=metadata_cfg)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/polymetis/robot_client/abstract_robot_client.py", line 23, in __init__
    self.metadata: RobotClientMetadata = hydra.utils.instantiate(metadata_cfg)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/utils.py", line 70, in call
    raise HydraException(f"Error calling '{cls}' : {e}") from e
hydra.errors.HydraException: Error calling 'polymetis.robot_client.metadata.RobotClientMetadata' : str interpolation key 'default_Kq' not found
	full_key: default_Kq
	reference_type=Any
	object_type=dict

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/user/micromamba/envs/polymetis/bin/launch_robot.py", line 83, in main
    client = hydra.utils.instantiate(cfg.robot_client)
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/hydra/utils.py", line 70, in call
    raise HydraException(f"Error calling '{cls}' : {e}") from e
hydra.errors.HydraException: Error calling 'polysim.grpc_sim_client.GrpcSimulationClient' : Error calling 'polymetis.robot_client.metadata.RobotClientMetadata' : str interpolation key 'default_Kq' not found
	full_key: default_Kq
	reference_type=Any
	object_type=dict

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
[2024-03-05 17:33:16,374][__main__][INFO] - Killing subprocess with pid 741733, pgid 741733...
Exception ignored in: <function GrpcSimulationClient.__del__ at 0x7fdb6e4f6280>
Traceback (most recent call last):
  File "/home/user/micromamba/envs/polymetis/lib/python3.8/site-packages/polysim/grpc_sim_client.py", line 109, in __del__
    self.channel.close()
AttributeError: 'GrpcSimulationClient' object has no attribute 'channel'

Also package versions

>>> import polymetis; polymetis.__version__
'1251_g0a01a7fa7'
>>> import hydra; hydra.__version__
'1.0.6'

Links to any relevant pastes or documents

usage docs

[Maverobot]

I experienced the same problem.

[janalb87]

The same here