Hello,
I’m currently working on implementing Domain Randomization within the OmniIsaacgymenvs environment.
While following the instructions from the link below, I called step_randomization within the pre_physics_step function, but I encountered an error message.
Error executing job with overrides: [‘task=Ropen’]
Traceback (most recent call last):
File “scripts/rlgames_train.py”, line 135, in parse_hydra_configs
rlg_trainer.run()
File “scripts/rlgames_train.py”, line 83, in run
‘sigma’: None
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/site-packages/rl_games/torch_runner.py”, line 121, in run
self.run_train(args)
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/site-packages/rl_games/torch_runner.py”, line 102, in run_train
agent.train()
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/site-packages/rl_games/common/a2c_common.py”, line 1215, in train
self.obs = self.env_reset()
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/site-packages/rl_games/common/a2c_common.py”, line 507, in env_reset
obs = self.vec_env.reset()
File “/home/kjh/OmniIsaacGymEnvs/omniisaacgymenvs/utils/rlgames/rlgames_utils.py”, line 102, in reset
return self.env.reset()
File “/home/kjh/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py”, line 88, in reset
obs_dict, _, _, _ = self.step(actions)
File “/home/kjh/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py”, line 62, in step
self._task.pre_physics_step(actions)
File “/home/kjh/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/Ropen.py”, line 130, in pre_physics_step
ps.step_randomization(reset_inds)
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.replicator.isaac/omni/replicator/isaac/scripts/physics_view.py”, line 195, in step_randomization
trigger_randomization(np.asarray(reset_inds))
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.replicator.isaac/omni/replicator/isaac/scripts/context.py”, line 45, in trigger_randomization
_context.trigger_randomization(reset_inds)
AttributeError: ‘NoneType’ object has no attribute ‘trigger_randomization’
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
Exception ignored in: <function _make_registry.._Registry.del at 0x7f0c0f995560>
Traceback (most recent call last):
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py”, line 103, in del
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py”, line 98, in destroy
TypeError: ‘NoneType’ object is not callable
Exception ignored in: <function _make_registry.._Registry.del at 0x7f0c0f995560>
Traceback (most recent call last):
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py”, line 103, in del
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py”, line 98, in destroy
TypeError: ‘NoneType’ object is not callable
Exception ignored in: <function SettingChangeSubscription.del at 0x7f0ccf49a0e0>
Traceback (most recent call last):
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/kernel/py/omni/kit/app/_impl/init.py”, line 114, in del
AttributeError: ‘NoneType’ object has no attribute ‘get_settings’
Exception ignored in: <function RegisteredActions.del at 0x7f0b2fd39440>
Traceback (most recent call last):
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.kit.viewport.menubar.lighting-104.0.9/omni/kit/viewport/menubar/lighting/actions.py”, line 347, in del
File “/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.kit.viewport.menubar.lighting-104.0.9/omni/kit/viewport/menubar/lighting/actions.py”, line 352, in destroy
TypeError: ‘NoneType’ object is not callable
2023-09-06 05:37:06 [8,841ms] [Warning] [carb.audio.context] 1 contexts were leaked
/home/kjh/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 852072 Segmentation fault (core dumped) $python_exe “$@” $args
There was an error running python
As a workaround, I utilized the set_body_masses function from omni.isaac.core to initialize the mass of each link within a random range during the pre_physics_step. I’ve verified that this method works in the simulation.
My main concern is that the approach I used differs from the official tutorial, as I added the parts I wanted to randomize directly within the code. I’m curious to know if there’s any performance difference between my method and the official tutorial’s approach.
Thank you.