error when retargeting lafan data #15
Description
error when retargeting lafan data :
python examples/robot_retarget.py --data_path demo_data/lafan --task-type robot_only --task-name dance2_subject1 --data_format lafan --task-config.ground-range -10 10 --save_dir demo_results/g1/robot_only/lafan --retargeter.debug --retargeter.visualize --retargeter.foot-sticking-tolerance 0.02
INFO: Task: dance2_subject1, Type: robot_only, Format: lafan
INFO: Data path: demo_data/lafan, Save dir: demo_results/g1/robot_only/lafan
INFO: Loading motion data for task: dance2_subject1, format: lafan
INFO: Setting up object data for task: robot_only
INFO: server listening on 0.0.0.0:8080
╭────── viser (listening *:8080) ───────╮
│ ╷ │
│ HTTP │ http://localhost:8080 │
│ Websocket │ ws://localhost:8080 │
│ ╵ │
╰───────────────────────────────────────╯
Traceback (most recent call last):
File "/data/holosoma-main/src/holosoma_retargeting/examples/robot_retarget.py", line 725, in
main(cfg)
File "/data/holosoma-main/src/holosoma_retargeting/examples/robot_retarget.py", line 661, in main
retargeter = InteractionMeshRetargeter(**retargeter_kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/data/holosoma-main/src/holosoma_retargeting/src/interaction_mesh_retargeter.py", line 108, in init
self._setup_visualization()
File "/data/holosoma-main/src/holosoma_retargeting/src/interaction_mesh_retargeter.py", line 182, in _setup_visualization
self.robot_urdf = yourdfpy.URDF.load(
^^^^^^^^^^^^^^^^^^^
File "/root/miniconda3/envs/hsretarget/lib/python3.11/site-packages/yourdfpy/urdf.py", line 993, in load
return URDF(robot=URDF._parse_robot(xml_element=xml_root), **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/root/miniconda3/envs/hsretarget/lib/python3.11/site-packages/yourdfpy/urdf.py", line 645, in init
self._scene = self._create_scene(
^^^^^^^^^^^^^^^^^^^
File "/root/miniconda3/envs/hsretarget/lib/python3.11/site-packages/yourdfpy/urdf.py", line 1327, in _create_scene
matrix, _ = self._forward_kinematics_joint(j)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/root/miniconda3/envs/hsretarget/lib/python3.11/site-packages/yourdfpy/urdf.py", line 1076, in _forward_kinematics_joint
matrix = origin @ tra.rotation_matrix(float(q), joint.axis)
^^^^^^^^
TypeError: only 0-dimensional arrays can be converted to Python scalars