Repository: simpler-env/SimplerEnv
Issue: Bug when run maniskill3 branch
Root cause: External Dependency Breakage

1.
   SimplerEnv/simpler_env/utils/env/env_builder.py  should delete this line`# import mani_skill2_real2sim.envs`

2. 
```
Traceback (most recent call last):
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 802, in make
    env = env_creator(**env_spec_kwargs)
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/utils/registration.py", line 182, in make
    env = env_spec.make(**kwargs)
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/utils/registration.py", line 79, in make
    return self.cls(**_kwargs)
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/put_on_in_scene.py", line 57, in __init__
    super().__init__(
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py", line 198, in __init__
    super().__init__(
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/mani_skill/envs/tasks/digital_twins/base_env.py", line 67, in __init__
    super().__init__(**kwargs)
TypeError: BaseEnv.__init__() got an unexpected keyword argument 'robot'

 File "/home/user1/workspace/SimplerEnv/simpler_env/main_inference.py", line 155, in <module>
    success_arr = maniskill2_evaluator(model, args)
  File "/home/user1/workspacimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py", line 234, in maniskill2_evaluator
    run_maniskill2_eval_single_episode(
  File "/home/user1/workspaceSimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py", line 63, in run_maniskill2_eval_single_episode
    env = build_maniskill2_env(
  File "/home/user1/workspaceSimplerEnv/simpler_env/utils/env/env_builder.py", line 17, in build_maniskill2_env
    env = gym.make(env_name, **kwargs)
  File "/home/user1/anaconda3/envs/simpler_envmani3/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 814, in make
    raise type(e)(
TypeError: BaseEnv.__init__() got an unexpected keyword argument 'robot' was raised from the environment creator for PutCarrotOnPlateInScene-v1 with kwargs ({'obs_mode': 'rgbd', 'robot': 'widowx', 'sim_freq': 500, 'control_mode': 'arm_pd_ee_target_delta_pose_align2_gripper_pd_joint_pos', 'control_freq': 5, 'scene_name': 'bridge_table_1_v1', 'camera_cfgs': {'add_segmentation': True}, 'rgb_overlay_path': 'ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png', 'rgb_overlay_cameras': ['3rd_view_camera']})
```

I delete ` --robot ${robot}` in script , but still has error `TypeError: BaseEnv.__init__() got an unexpected keyword argument 'robot' was raised from the environment creator for PutCarrotOnPlateInScene-v1 with kwar`

Does it because gym version ==0.28? Should I upgrade to >1.0?

I tried remove here 
`SimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py `

`    # Create environment
    kwargs = dict(
        obs_mode="rgbd",
        # robot=robot_name,` 

But it cause    ` if "google_robot_static" in kwargs["robot"]:  KeyError: 'robot'`

I tried  pop it    


`       kwargs.pop("robot", None)
    kwargs.pop("sim_freq", None)
    kwargs.pop("control_freq", None)
    kwargs.pop("scene_name", None)
    kwargs.pop("camera_cfgs", None)
    kwargs.pop("rgb_overlay_path", None)
    kwargs.pop("rgb_overlay_cameras", None)`

Why it shows all keyerror ?   `TypeError: BaseEnv.__init__() got an unexpected keyword argument 'scene_name' was raised from the environment creator for PutCarrotOnPlateInScene-v1 with kwargs ({'obs_mode': 'rgbd', 'control_mode': 'arm_pd_ee_delta_pose_align_interpolate_by_planner_gripper_pd_joint_target_delta_pos_interpolate_by_planner', 'scene_name': 'bridge_table_1_v1', 'camera_cfgs': {'add_segmentation': True}, 'rgb_overlay_path': 'ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png', 'rgb_overlay_cameras': ['overhead_camera']}) `



NotImplementedError: Unsupported obs mode: rgbd. Must be one of ['rgb+segmentation']


change here  SimplerEnv/simpler_env/evaluation/maniskill2_evaluator.py `        obs_mode="rgb+segmentation", ` 


3. 
`AssertionError: arm_pd_ee_delta_pose_align_interpolate_by_planner_gripper_pd_joint_target_delta_pos_interpolate_by_planner not in supported modes: ['arm_pd_ee_target_delta_pose_align2_gripper_pd_joint_pos']`
change here SimplerEnv/simpler_env/utils/env/env_builder.py  

@StoneT2000 

Can you try `robot_uids=robot` instead? The code might be a bit outdated now, there was a few small changes to maniskill3 API.