Controller Config Registration Error

[myunusseker]

System Info

Robosuite 1.5.0
Python 3.10

Information

Hi, I just started using RoboSuite, but I am having this problem even though I try to follow the starter codes.

import robosuite as suite
import numpy as np
from robosuite.controllers import load_part_controller_config

# load default controller parameters for Operational Space Control (OSC)
controller_config = load_part_controller_config(default_controller="OSC_POSE")

env = suite.make(
    "Lift",
    robots=["UR5e"],             # load a Sawyer robot and a Panda robot
    gripper_types="RethinkGripper",       # use default grippers per robot arm
    controller_configs=controller_config,  # each arm is controlled using OSC
    env_configuration="opposed",            # (two-arm envs only) arms face each other
    has_renderer=True,                      # on-screen rendering
    render_camera="frontview",              # visualize the "frontview" camera
)

# reset the environment
env.reset()

for i in range(1000):
    action = np.random.randn(*env.action_spec[0].shape) * 0.1
    obs, reward, done, info = env.step(action)  # take action in the environment
    env.render()  # render on display

Traceback (most recent call last):
  File "/home/user/robosuite/robosuite/scripts/trial.py", line 8, in <module>
    env = suite.make(
  File "/home/user/robosuite/robosuite/environments/base.py", line 41, in make
    return REGISTERED_ENVS[env_name](*args, **kwargs)
  File "/home/user/robosuite/robosuite/environments/manipulation/lift.py", line 187, in __init__
    super().__init__(
  File "/home/user/robosuite/robosuite/environments/manipulation/manipulation_env.py", line 171, in __init__
    super().__init__(
  File "/home/user/robosuite/robosuite/environments/robot_env.py", line 221, in __init__
    super().__init__(
  File "/home/user/robosuite/robosuite/environments/base.py", line 158, in __init__
    self._reset_internal()
  File "/home/user/robosuite/robosuite/environments/manipulation/lift.py", line 394, in _reset_internal
    super()._reset_internal()
  File "/home/user/robosuite/robosuite/environments/robot_env.py", line 526, in _reset_internal
    robot.reset(deterministic=self.deterministic_reset)
  File "/home/user/robosuite/robosuite/robots/fixed_base_robot.py", line 78, in reset
    super().reset(deterministic)
  File "/home/user/robosuite/robosuite/robots/robot.py", line 269, in reset
    self._load_controller()
  File "/home/user/robosuite/robosuite/robots/fixed_base_robot.py", line 46, in _load_controller
    self.composite_controller = composite_controller_factory(
  File "/home/user/robosuite/robosuite/controllers/composite/__init__.py", line 8, in composite_controller_factory
    assert type in REGISTERED_COMPOSITE_CONTROLLERS_DICT, f"{type} controller is specified, but not imported or loaded"
AssertionError: OSC_POSE controller is specified, but not imported or loaded

I tried installing from source and pip as well. Any help is appreciated.

Reproduction

Install RoboSuite 1.5.0
Run above code

Expected behavior

Simulation would start using the OSC_POSE controller

[kevin-thankyou-lin]

@Abhiram824 could you please take a look?

[Abhiram824]

Hello, we recently changed how controllers are used in the codebase to use composite controllers, which are controllers that are composed of multiple sub-controllers controllers for each part of the robot. (for more information please visit https://robosuite.ai/docs/simulation/controller.html) We are updating our documentation to reflect these changes currently.

If you would like to control the arms of the robot using OSC_POSE, you can load the BASIC composite controller. Please let me know if the following code works for you.

import robosuite as suite
import numpy as np
from robosuite.controllers import load_composite_controller_config

# BASIC controller: arms controlled using OSC, mobile base (if present) using JOINT_VELOCITY, other parts controlled using JOINT_POSITION 
controller_config = load_composite_controller_config(controller="BASIC")

env = suite.make(
    "Lift",
    robots=["UR5e"],             # load a Sawyer robot and a Panda robot
    gripper_types="RethinkGripper",       # use default grippers per robot arm
    controller_configs=controller_config,   # arms controlled via OSC, other parts via JOINT_POSITION/JOINT_VELOCITY
    env_configuration="opposed",            # (two-arm envs only) arms face each other
    has_renderer=True,                      # on-screen rendering
    render_camera="frontview",              # visualize the "frontview" camera
)

# reset the environment
env.reset()

for i in range(1000):
    action = np.random.randn(*env.action_spec[0].shape) * 0.1
    obs, reward, done, info = env.step(action)  # take action in the environment
    env.render()  # render on display

[kevin-thankyou-lin]

@xieleo5

[kevin-thankyou-lin]

@Abhiram824 looks like @myunusseker is probably referencing https://github.com/ARISE-Initiative/robosuite/blob/master/docs/modules/controllers.ipynb, would you be able to update the docs (first convert it back to a .md and then update the script to use from robosuite.controllers import load_composite_controller_config?