Import warning due to TargetNotSet location change in mink 0.0.11

[fanshJ]

System Info

robosuite version: 1.5.1
mink: 0.0.12

OS version: Ubuntu 22.04

Information

When importing robosuite, the following warning appears due to mink >=0.11.0 changes:

[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)

This is caused by TargetNotSet being moved from mink.tasks.exceptions to mink.exceptions in mink v0.11.0. The current import in robosuite/examples/third_party_controller/mink_controller.py fails.

Reproduction

1. Install robosuite with mink (>=0.11.0).
2. Run import robosuite in Python.
3. Observe the warning:

[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)

Expected behavior

No warning should appear.

Suggested Fix:

Update the import in mink_controller.py from:

from mink.tasks.exceptions import TargetNotSet

to:

from mink.exceptions import TargetNotSet

Or add a try-except to handle both old and new versions of mink:

try:
    from mink.tasks.exceptions import TargetNotSet
except ImportError:
    from mink.exceptions import TargetNotSet

[Abhiram824]

Hi thanks for raising this issue. for now I'd suggest sticking to earlier versions (I believe mink=0.0.5 would be best) as we haven't tested out robosuite with mink>=0.11.0. In the meantime, we will push an update to pin the mink version in our requirements-extra.txt

[atyshka]

@Abhiram824 Have you been able to test the new version (as contributed in #733)? Pinning mink at this old version forces numpy <2.0.0, which can create conflicts downstream. For example, lerobot requires newer numpy versions which become incompatible with this library