Hi. I meet a problem when I’m running the tutorial example of Unitree H1 biped robot, following the Isaaclab documentation:
python source/standalone/workflows/rl_games/train.py --task Isaac-H1-Direct-v0 –headless
The simulation crashed and reported these warnings.
[INFO][AppLauncher]: Loading experience file: D:\projects\IsaacLab\source\apps\isaaclab.python.headless.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: ‘c:/users/17985/.conda/envs/isaaclab/lib/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json’
[Info] [carb] Logging to file: c:/users/17985/.conda/envs/isaaclab/lib/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20241121_201412.log
2024-11-21 12:14:12 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn’t available.
2024-11-21 12:14:15 [3,055ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Iris(R) Xe Graphics
2024-11-21 12:14:15 [3,055ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Iris(R) Xe Graphics
[INFO]: Parsing configuration from: <class ‘omni.isaac.lab_tasks.direct.humanoid.h1_env.H1EnvCfg’>
[INFO]: Parsing configuration from: D:\projects\IsaacLab\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\direct\humanoid\agents\rl_games_ppo_cfg.yaml
[INFO] Logging experiment in directory: D:\projects\IsaacLab\logs\rl_games\humanoid_direct
Setting seed: 42
[INFO]: Base environment:
Environment device : cuda:0
Environment seed : 42
Physics step-size : 0.008333333333333333
Rendering step-size : 0.016666666666666666
Environment step-size : 0.016666666666666666
[INFO]: Time taken for scene creation : 2.677555 seconds
[INFO]: Scene manager:
Number of environments: 2
Environment spacing : 4.0
Source prim name : /World/envs/env_0
Global prim paths : [‘/World/ground’]
Replicate physics : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait…
[INFO]: Time taken for simulation start : 0.540319 seconds
[INFO]: Completed setting up the environment…
self.seed = 42
Started to train
Exact experiment name requested from command line: 2024-11-21_20-14-19
seq_length: 4
current training device: cuda:0
Error executing job with overrides:
Traceback (most recent call last):
File “D:\projects\IsaacLab\source\standalone\workflows\rl_games\train.py”, line 178, in
main()
File “D:\projects\IsaacLab\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\utils\hydra.py”, line 102, in wrapper
hydra_main()
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra\main.py”, line 94, in decorated_main
_run_hydra(
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra_internal\utils.py”, line 394, in _run_hydra
_run_app(
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra_internal\utils.py”, line 457, in _run_app
run_and_report(
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra_internal\utils.py”, line 223, in run_and_report
raise ex
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra_internal\utils.py”, line 220, in run_and_report
return func()
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra_internal\utils.py”, line 458, in
lambda: hydra.run(
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra_internal\hydra.py”, line 132, in run
_ = ret.return_value
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra\core\utils.py”, line 260, in return_value
raise self._return_value
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\hydra\core\utils.py”, line 186, in run_job
ret.return_value = task_function(task_cfg)
File “D:\projects\IsaacLab\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\utils\hydra.py”, line 99, in hydra_main
func(env_cfg, agent_cfg, *args, **kwargs)
File “D:\projects\IsaacLab\source\standalone\workflows\rl_games\train.py”, line 170, in main
runner.run({“train”: True, “play”: False, “sigma”: train_sigma})
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\rl_games\torch_runner.py”, line 133, in run
self.run_train(args)
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\rl_games\torch_runner.py”, line 113, in run_train
agent = self.algo_factory.create(self.algo_name, base_name=‘run’, params=self.params)
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\rl_games\common\object_factory.py”, line 15, in create
return builder(**kwargs)
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\rl_games\torch_runner.py”, line 37, in
self.algo_factory.register_builder(‘a2c_continuous’, lambda **kwargs : a2c_continuous.A2CAgent(**kwargs))
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\rl_games\algos_torch\a2c_continuous.py”, line 15, in init
a2c_common.ContinuousA2CBase.init(self, base_name, params)
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\rl_games\common\a2c_common.py”, line 1143, in init
A2CBase.init(self, base_name, params)
File “C:\Users\17985.conda\envs\isaaclab\lib\site-packages\rl_games\common\a2c_common.py”, line 249, in init
assert(self.batch_size % self.minibatch_size == 0)
AssertionError
2024-11-21 12:14:22 [10,280ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
I have transfered the assets to local server and the Unitree h1.usd model can be successfully loaded in demo script.
So I think it may not be caused by model file broken or bad network.
But the simulation runs normally when switch to another task with the same train.py script:
python source/standalone/workflows/rl_games/train.py --task Isaac-Humanoid-Direct-v0.
I want to know where the error happens.
My laptop is running on windows 11, mounted with NVIDIA GeForce RTX 3060 GPU (VRAM 6G), CPU 12th Gen Intel(R) Core™ i9-12900H x 14 (RAM 64G), Nvidia driver version 560.94, and Cuda version 12.6.
I appreciate much your help.
Thank you.