On IsaacLab, I get this error below when I try to run: " ./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py – task Isaac-Velocity-Flat-Robot-V3-v0 --num_envs 64":
2.961s] [ext: omni.isaac.utils-1.0.1] startup
[2.963s] [ext: omni.isaac.cloner-0.8.1] startup
[2.965s] [ext: omni.kit.window.stats-0.1.6] startup
[2.967s] [ext: isaaclab.python-1.0.0] startup
[2.968s] Simulation App Starting
[4.694s] app ready
[5.538s] Simulation App Startup Complete
[INFO]: Parsing configuration from: <class ‘omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.robot_v3.flat_env_cfg.RobotV3FlatEnvCfg’>
[INFO]: Parsing configuration from: <class ‘omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.robot_v3.agents.rsl_rl_cfg.RobotV3FlatPPORunnerCfg’>
[INFO] Logging experiment in directory: /home/users/Repositories/IsaacLab/logs/rsl_rl/robot_v3_flat
[6.488s] [ext: omni.physx.fabric-106.0.16] startup
[INFO]: Base environment:
Environment device : cuda:0
Physics step-size : 0.005
Rendering step-size : 0.005
Environment step-size : 0.02
Physics GPU pipeline : True
Physics GPU simulation: True
[INFO]: Time taken for scene creation : 0.102877 seconds
Traceback (most recent call last):
File “/home/users/Repositories/IsaacLab/source/standalone/workflows/rsl_rl/train.py”, line 132, in
main()
File “/home/users/Repositories/IsaacLab/source/standalone/workflows/rsl_rl/train.py”, line 87, in main
env = gym.make(args_cli.task, cfg=env_cfg, render_mode=“rgb_array” if args_cli.video else None)
File “/home/users/miniconda3/envs/isaaclab/lib/python3.10/site-packages/gymnasium/envs/registration.py”, line 802, in make
env = env_creator(**env_spec_kwargs)
File “/home/users/Repositories/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py”, line 82, in init
super().init(cfg=cfg)
File “/home/users/Repositories/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py”, line 97, in init
self.scene = InteractiveScene(self.cfg.scene)
File “/home/users/Repositories/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py”, line 105, in init
self._add_entities_from_cfg()
File “/home/users/Repositories/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py”, line 383, in _add_entities_from_cfg
self.articulations[asset_name] = asset_cfg.class_type(asset_cfg)
File “/home/users/Repositories/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py”, line 97, in init
super().init(cfg)
File “/home/users/Repositories/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py”, line 58, in init
super().init(cfg)
File “/home/users/Repositories/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py”, line 75, in init
self.cfg.spawn.func(
File “/home/users/Repositories/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py”, line 275, in wrapper
cloner.clone(prim_paths[0], prim_paths[1:], replicate_physics=False, copy_from_source=cfg.copy_from_source)
File “/home/users/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.cloner/omni/isaac/cloner/cloner.py”, line 214, in clone
xform_op_rot.Set(current_orientation)
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22_pxrReserved::UsdStage::_SetValueImpl’ at line 6189 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp : 'Type mismatch for </World/envs/env_0/Robot.xformOp:orient>: expected ‘GfQuatf’, got 'GfQuatd
It works well with 1 env (so num_envs=1) but failed every I want to increase the number of environments… I used a custom robot.usd file made base on a .xml file description. So I used the MJCF Importer to import my custom robot.
I tried to check the Instanceable box in the Isaac Sim and save an usd file description of my custom robot but I got another problem, the code don’t find any rigit body.
My setup
Ubuntu 20.04
IsaacSim 4.0
GPU rtx 4080