Missing data/resources and trajectory datasets for reproduction

[kkwannable]

Hi,

I am trying to reproduce the Masked-IRL experiments from the official repository.

I followed the README installation steps and tried to generate trajectories using:

python scripts/generate_traj_sets.py \
    --config ../config/trajset_gen/frankarobot.yaml \
    --samples 1 \
    --seed 12345

However, PyBullet failed to build the simulation environment because the required URDF/resource files seem to be missing.

I checked the repository with:

find . -name "*.urdf"

but no URDF files were found. I also could not find a data/resources/ folder in the downloaded repository.

In src/envs/frankarobot.py, the code tries to load several URDF files, including:

table.urdf
support.urdf
laptop.urdf
franka_panda/panda.urdf
jaco.urdf

In addition, the README mentions that the trajectory datasets should be stored in data/traj_sets/, such as:

frankarobot_obj20_sg10_persg5.npy
frankarobot_obj20_sg10_persg5_shortest_paths.npy

but these dataset files are not included in the repository either.

Could you please let me know where I can download the required data/resources/ files and the trajectory datasets? Are these files available publicly, or should I request them from the authors?

Thank you very much.