Wrong value assigned to self.state_key in model/vision/pointnet_extractor.py (line 209)

[giuliavilone]

Bug details

There is a bug when running the script workspace.py, which is due to a wrong value assigned to the parameter self.state_key of the class DP3Encoder in the script model/vision/pointnet_extractor.py (line 209). In the current version, self.state_key is set equal to 'agent_pos'. The code works smoothly if self.state_key = "state"

Replicate the bug

• Set export HYDRA_FULL_ERROR=1
• Run the command: python workspace.py --config-name=dp3 task=2a_lift_barrier_3d
• You will get the following error message:
  Traceback (most recent call last): File "./policy-lightning/workspace.py", line 73, in <module> main() File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/main.py", line 94, in decorated_main _run_hydra( File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/utils.py", line 394, in _run_hydra _run_app( File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/utils.py", line 457, in _run_app run_and_report( File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/utils.py", line 223, in run_and_report raise ex File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/utils.py", line 220, in run_and_report return func() ^^^^^^ File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/utils.py", line 458, in <lambda> lambda: hydra.run( ^^^^^^^^^^ File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/hydra.py", line 132, in run _ = ret.return_value ^^^^^^^^^^^^^^^^ File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/core/utils.py", line 260, in return_value raise self._return_value File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/core/utils.py", line 186, in run_job ret.return_value = task_function(task_cfg) ^^^^^^^^^^^^^^^^^^^^^^^ File "./IsaacSim/asimov-lightning-policy/policy-lightning/workspace.py", line 36, in main model: LightningModule = hydra.utils.instantiate(cfg.policy) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 226, in instantiate return instantiate_node( ^^^^^^^^^^^^^^^^^ File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 347, in instantiate_node return _call_target(_target_, partial, args, kwargs, full_key) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "./miniconda3/envs/policy-lt/lib/python3.12/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 97, in _call_target raise InstantiationException(msg) from e hydra.errors.InstantiationException: Error in call to target 'policy.dp3.DP3': KeyError('agent_pos') full_key: policy

Suggested fix

Set self.state_key = "state"