Pin mink==0.0.10 and add missing IK/data deps so GR1 + abstract replay work from a clean install - #8
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GR1TwoHand replay fails on a clean install: mink/quadprog/robosuite_models/ huggingface_hub are neither declared nor documented, and with mink unpinned the latest release breaks two ways -- mink>=0.0.11 moved TargetNotSet out of mink.tasks.exceptions (ImportError in robosuite's mink_controller, so WHOLE_BODY_MINK_IK never registers), and mink>=1.0.0 requires mujoco>=3.3 (conflicts with the pinned mujoco==3.2.6). Pin mink==0.0.10 (last release with the mink.tasks.exceptions layout and mujoco>=3.1.6, compatible with 3.2.6) and add the other deps. This fixes the GR1 path without patching robosuite or overriding mujoco. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
GR1 and DemoTwoHand models are bundled in the robosuite (abs_robot) fork itself; robosuite_models is only an optional import in robosuite.__init__ for other robots. Verified both `--robots DemoTwoHand` and `--robots GR1TwoHand` replay to Success without robosuite_models installed. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Problem
Following the README on a fresh environment,
replay_dataset.py --robots GR1TwoHand(the GR1 half of the benchmark) fails, because two runtime dependencies are neither declared nor documented:mink(whole-body IK) andquadprog(mink's default QP solver — otherwiseqpsolvers.exceptions.SolverNotFound). (huggingface_hub, used byscripts/download_mimicdroid_dataset.py, is likewise undeclared.)Worse, with
minkunpinned a fresh install pulls the latest release, which breaks two ways:mink>=0.0.11movedTargetNotSetout ofmink.tasks.exceptions, sorobosuite/examples/third_party_controller/mink_controller.pyraisesModuleNotFoundError: No module named 'mink.tasks.exceptions'at import →WHOLE_BODY_MINK_IKis never registered →AssertionError: Controller WHOLE_BODY_MINK_IK not found.mink>=1.0.0additionally requiresmujoco>=3.3, conflicting with the pinnedmujoco==3.2.6.Fix
Pin
mink==0.0.10— the last release that (a) keeps themink.tasks.exceptionslayout thatmink_controllerimports and (b) requiresmujoco>=3.1.6(compatible withmujoco==3.2.6) — and addquadprog+huggingface_hub. This makes the controller import cleanly without patching robosuite and without a mujoco override.Verification
Fresh Python 3.10 venv, headless EGL (
MUJOCO_GL=egl), kitchen assets + aTaskDemosepisode downloaded per the README:replay_dataset.py --robots DemoTwoHand --use_camera_obs→Success: Truereplay_dataset.py --robots GR1TwoHand --use_camera_obs→Success: True(GR1 and DemoTwoHand models ship in the
abs_robotfork itself, sorobosuite_modelsis not required for either embodiment.)Refs #6, #7 (reproducibility / setup questions).