samuelschmidgall / surgicalgym Goto Github PK

Thank you very much for providing such fascinating platform for parallel training with surgical robot! However, I see that the platform now mostly provides robot arms configs from the DaVinci system. Would there be any possible way for users to import / create their custom robot arms (e.g. like UR or Franka etc..)? I see that there are some .usd and their corresponding .py files, should we also like having our own .usd and .py for importing other robot arms?

Great job! I've encountered some difficulties while running SurgicalGym and I was hoping you could provide some assistance.

The error message I'm receiving is: 'pxrInternal_v0_22__pxrReserved__::UsdPrim::_ApplyAPI' at line 450 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/prim.cpp : 'Invalid prim 'null prim' ".

Upon reviewing the code, I suspect that the issue might be related to the 'prim_path' in the 'star.py' file at line 100 and the 'psm.py' file at line 98. I noticed that the value of 'self.default_zero_env_path' is set to '/World/envs/env_0', which doesn't exist on my computer.

Could you please suggest a solution to resolve this problem?

Thank you for your attention and assistance.