Originally published at: https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/
Developing effective locomotion policies for quadrupeds poses significant challenges in robotics due to the complex dynamics involved. Training quadrupeds to walk up and down stairs in the real world can damage the equipment and environment. Therefore, simulators play a key role in both safety and time constraints in the learning process. Leveraging deep reinforcement learning…
Hi @jwitsoe. Thanks for nice explanation. I installed Isaac Lab on Ubuntu 22.04 with a RTX 4070 and Intel U7. Isaac Sim and the Isaac Examples are working fine, however when I start a RSL training I am getting the following error message before starting even the first iteration. I did a fresh install yesterday.
./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --num_envs 4096 --headless --video --enable_cameras
Traceback (most recent call last):
File "/home/manuel/dev/IsaacLab/source/standalone/workflows/rsl_rl/train.py", line 151, in <module>
main()
File "/home/manuel/dev/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 79, in wrapper
env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point)
File "/home/manuel/dev/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 57, in register_task_to_hydra
ConfigStore.instance().store(name=task_name, node=cfg_dict)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/hydra/core/config_store.py", line 85, in store
cfg = OmegaConf.structured(node)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 125, in structured
return OmegaConf.create(obj, parent, flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 178, in create
return OmegaConf._create_impl(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 900, in _create_impl
format_and_raise(node=None, key=None, value=None, msg=str(e), cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 861, in _create_impl
return DictConfig(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
self._set_value(content, flags=flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
raise e
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
self.__setitem__(k, v)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
self._format_and_raise(key=key, value=value, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
self.__set_impl(key=key, value=value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
self._set_value(content, flags=flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
raise e
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
self.__setitem__(k, v)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
self._format_and_raise(key=key, value=value, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
self.__set_impl(key=key, value=value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
self._set_value(content, flags=flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
raise e
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
self.__setitem__(k, v)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
self._format_and_raise(key=key, value=value, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
self.__set_impl(key=key, value=value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
self._set_value(content, flags=flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
raise e
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
self.__setitem__(k, v)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
self._format_and_raise(key=key, value=value, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
self.__set_impl(key=key, value=value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
self._set_value(content, flags=flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
raise e
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
self.__setitem__(k, v)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
self._format_and_raise(key=key, value=value, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
self.__set_impl(key=key, value=value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
self._set_value(content, flags=flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
raise e
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
self.__setitem__(k, v)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
self._format_and_raise(key=key, value=value, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
self.__set_impl(key=key, value=value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
format_and_raise(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 899, in format_and_raise
_raise(ex, cause)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1045, in _node_wrap
node = AnyNode(value=value, key=key, parent=parent)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/nodes.py", line 135, in __init__
super().__init__(
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/nodes.py", line 29, in __init__
self._set_value(value) # lgtm [py/init-calls-subclass]
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/nodes.py", line 46, in _set_value
self._val = self.validate_and_convert(value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/nodes.py", line 76, in validate_and_convert
return self._validate_and_convert_impl(value)
File "/home/manuel/miniconda3/envs/isaac/lib/python3.10/site-packages/omegaconf/nodes.py", line 154, in _validate_and_convert_impl
raise UnsupportedValueType(
omegaconf.errors.UnsupportedValueType: Value 'Tensor' is not a supported primitive type
full_key: env.scene.robot.actuators.spot_knee.joint_parameter_lookup
object_type=dict
EDIT: Re-Installed Isaac Lab v1.3.0 (GitHub - isaac-sim/IsaacLab at v1.3.0) instead of master and now its working as expected. So I assume an issue between 1.3.0 and master branch.