Isaac Sim Version
4.2.0
Isaac Lab Version (if applicable)
1.2
Operating System
Ubuntu 22.04
GPU Information
- Model: Quadro RTX 8000
- Driver Version: 535.183.01
Topic Description
Detailed Description
I am currently working through Isaac Lab document. I am following Reinforcement Learning Wrappers, but I am encountering an error.
When I try to run the Isaac Sim GUI and “train or play” in Isaac Lab simultaneously, it stops progressing. Regarding training, there are no errors when it is not headless. Therefore, I think that running the Isaac Sim GUI and “train or play” simultaneously is the trigger.
Example
No error↓
./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --device cpu
Error↓
./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --device cpu
./isaaclab.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip
I understand that this “AttributeError: ‘NoneType’ object has no attribute ‘debug_vis’” is important, but I don’t know how to resolve it. I would appreciate it if you could help me.
Error Messages
(isaaclab_test3) miharaka@roboi:~/IsaacLab$ ./isaaclab.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /home/miharaka/IsaacLab/logs/sb3/Isaac-Cartpole-v0/2024-10-31_15-19-17/model.zip
[INFO] Using python from: /home/miharaka/miniconda3/envs/isaaclab_test3/bin/python
[INFO][AppLauncher]: Loading experience file: /home/miharaka/IsaacLab/source/apps/isaaclab.python.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: [‘omni.kit_app’] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(…)
Loading user config located at: ‘/home/miharaka/miniconda3/envs/isaaclab_test3/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json’
[Info] [carb] Logging to file: /home/miharaka/miniconda3/envs/isaaclab_test3/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20241031_164808.log
2024-10-31 07:48:08 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn’t available.
2024-10-31 07:48:08 [462ms] [Error] [carb.glinterop.plugin] OpenGL Interop is not available. Upgrade your driver to latest for this feature.
|---------------------------------------------------------------------------------------------|
| Driver Version: 535.183.01 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | Quadro RTX 8000 | Yes: 0 | | 49398 MB | 10de | 0 |
| | | | | | 1e30 | bf4abfd2… |
| | | | | | 67 | |
|---------------------------------------------------------------------------------------------|
| 1 | Quadro RTX 8000 | | | 49398 MB | 10de | 0 |
| | | | | | 1e30 | 9d34c679… |
| | | | | | 68 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-122-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: Intel(R) Core™ i9-10900X CPU @ 3.70GHz | Cores: 10 | Logical: 20
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 63976 | Free Memory: 51401
| Total Page/Swap (MB): 16383 | Free Page/Swap: 13647
|---------------------------------------------------------------------------------------------|
2024-10-31 07:48:13 [5,219ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
2024-10-31 07:48:14 [6,005ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance.
[INFO]: Parsing configuration from: <class ‘omni.isaac.lab_tasks.manager_based.classic.cartpole.cartpole_env_cfg.CartpoleEnvCfg’>
[INFO]: Parsing configuration from: /home/miharaka/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/agents/sb3_ppo_cfg.yaml
2024-10-31 07:48:22 [14,718ms] [Warning] [omni.isaac.lab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
[INFO]: Base environment:
Environment device : cuda:0
Environment seed : None
Physics step-size : 0.008333333333333333
Rendering step-size : 0.016666666666666666
Environment step-size : 0.016666666666666666
[INFO]: Time taken for scene creation : 1.384380 seconds
[INFO]: Scene manager:
Number of environments: 32
Environment spacing : 4.0
Source prim name : /World/envs/env_0
Global prim paths :
Replicate physics : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait…
2024-10-31 07:48:26 [17,988ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/Robot/slider/visuals.proto_mesh_0_id0 that has not been populated
[INFO]: Time taken for simulation start : 1.961909 seconds
[INFO] Command Manager: contains 0 active terms.
±-----------------------+
| Active Command Terms |
±-------±------±------+
| Index | Name | Type |
±-------±------±------+
±-------±------±------+
[INFO] Action Manager: contains 1 active terms.
±---------------------------------+
| Active Action Terms (shape: 1) |
±------±-------------±----------+
| Index | Name | Dimension |
±------±-------------±----------+
| 0 | joint_effort | 1 |
±------±-------------±----------+
[INFO] Observation Manager: contains 1 groups.
±-----------------------------------------------------+
| Active Observation Terms in Group: ‘policy’ (shape: (4,)) |
±-----------±---------------------------±-----------+
| Index | Name | Shape |
±-----------±---------------------------±-----------+
| 0 | joint_pos_rel | (2,) |
| 1 | joint_vel_rel | (2,) |
±-----------±---------------------------±-----------+
[INFO] Event Manager: contains 1 active terms.
±------------------------------------+
| Active Event Terms in Mode: ‘reset’ |
±--------±--------------------------+
| Index | Name |
±--------±--------------------------+
| 0 | reset_cart_position |
| 1 | reset_pole_position |
±--------±--------------------------+
[INFO] Termination Manager: contains 2 active terms.
±--------------------------------------+
| Active Termination Terms |
±------±-------------------±---------+
| Index | Name | Time Out |
±------±-------------------±---------+
| 0 | time_out | True |
| 1 | cart_out_of_bounds | False |
±------±-------------------±---------+
[INFO] Reward Manager: contains 5 active terms.
±-----------------------------+
| Active Reward Terms |
±------±------------±-------+
| Index | Name | Weight |
±------±------------±-------+
| 0 | alive | 1.0 |
| 1 | terminating | -2.0 |
| 2 | pole_pos | -1.0 |
| 3 | cart_vel | -0.01 |
| 4 | pole_vel | -0.005 |
±------±------------±-------+
[INFO] Curriculum Manager: contains 0 active terms.
±---------------------+
| Active Curriculum Terms |
±----------±---------+
| Index | Name |
±----------±---------+
±----------±---------+
Creating window for environment.
Traceback (most recent call last):
File “/home/miharaka/IsaacLab/source/standalone/workflows/sb3/play.py”, line 138, in
main()
File “/home/miharaka/IsaacLab/source/standalone/workflows/sb3/play.py”, line 84, in main
env = gym.make(args_cli.task, cfg=env_cfg, render_mode=“rgb_array” if args_cli.video else None)
File “/home/miharaka/miniconda3/envs/isaaclab_test3/lib/python3.10/site-packages/gymnasium/envs/registration.py”, line 802, in make
env = env_creator(**env_spec_kwargs)
File “/home/miharaka/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py”, line 75, in init
super().init(cfg=cfg)
File “/home/miharaka/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py”, line 148, in init
self._window = self.cfg.ui_window_class_type(self, window_name=“IsaacLab”)
File “/home/miharaka/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py”, line 37, in init
self._create_debug_vis_ui_element(“commands”, self.env.command_manager)
File “/home/miharaka/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py”, line 385, in _create_debug_vis_ui_element
checked=elem.cfg.debug_vis,
AttributeError: ‘NoneType’ object has no attribute ‘debug_vis’
2024-10-31 07:48:26 [18,295ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,295ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-10-31 07:48:26 [18,296ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Core’ for removal
2024-10-31 07:48:26 [18,636ms] [Warning] [carb] Recursive unloadAllPlugins() detected!