when I run PYTHON_PATH scripts/rlgames_train.py task=Cartpole, screen is black ! some error in log below
show ext.plugin prim and viewport setup failed! please help me !
D:\Workshop\OmniIsaacGymEnvs\omniisaacgymenvs>PYTHON_PATH scripts/rlgames_train.py task=Cartpole
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\defaults_list.py:251: UserWarning: In ‘config’: Defaults list is missing _self_. See Changes to default composition order | Hydra for more information
warnings.warn(msg, UserWarning)
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\defaults_list.py:412: UserWarning: In config: Invalid overriding of hydra/job_logging:
Default list overrides requires ‘override’ keyword.
See https://hydra.cc/docs/next/upgrades/1.0_to_1.1/defaults_list_override for more information.
deprecation_warning(msg)
[Warning] [omni.isaac.kit.simulation_app] Modules: [‘omniisaacgymenvs’, ‘omniisaacgymenvs.utils’, ‘omniisaacgymenvs.utils.hydra_cfg’, ‘omniisaacgymenvs.utils.hydra_cfg.hydra_utils’, ‘omniisaacgymenvs.utils.hydra_cfg.reformat’, ‘omniisaacgymenvs.utils.rlgames’, ‘omniisaacgymenvs.utils.rlgames.rlgames_utils’, ‘omniisaacgymenvs.utils.task_util’, ‘omniisaacgymenvs.utils.config_utils’, ‘omniisaacgymenvs.utils.config_utils.path_utils’, ‘omniisaacgymenvs.envs’, ‘omniisaacgymenvs.envs.vec_env_rlgames’, ‘omni’, ‘omni.isaac.gym’, ‘omni.isaac.gym.vec_env’, ‘omni.isaac.gym.vec_env.vec_env_base’, ‘omni.kit.app._impl.telemetry_helpers’, ‘omni.isaac.gym.vec_env.vec_env_mt’] 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(…)
Starting kit application with the following args: [‘C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\exts\omni.isaac.kit\omni\isaac\kit\simulation_app.py’, ‘C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\apps/omni.isaac.sim.python.kit’, ‘–/app/tokens/exe-path=C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit’, ‘–/persistent/app/viewport/displayOptions=3094’, ‘–/rtx/materialDb/syncLoads=True’, ‘–/rtx/hydra/materialSyncLoads=True–/omni.kit.plugin/syncUsdLoads=True’, ‘–/app/renderer/resolution/width=1280’, ‘–/app/renderer/resolution/height=720’, ‘–/app/window/width=1440’, ‘–/app/window/height=900’, ‘–/renderer/multiGpu/enabled=True’, ‘–/app/fastShutdown=True’, ‘–ext-folder’, ‘C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts’, ‘–ext-folder’, ‘C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/apps’, ‘–/physics/cudaDevice=0’, ‘–portable’]
Passing the following args to the base kit application: [‘task=Cartpole’]
[Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn’t available.
[Info] [carb] Logging to file: c:/users/administrator/appdata/local/ov/pkg/isaac_sim-2022.2.0/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230114_152443.log
[0.680s] [ext: omni.stats-0.0.0] startup
[1.857s] [ext: omni.rtx.shadercache-1.0.0] startup
[2.025s] [ext: omni.assets.plugins-0.0.0] startup
[2.045s] [ext: omni.gpu_foundation-0.0.0] startup
[2.668s] [ext: carb.windowing.plugins-1.0.0] startup
[3.035s] [ext: omni.kit.renderer.init-0.0.0] startup
2023-01-14 07:24:47 [4,163ms] [Warning] [gpu.foundation.plugin] Disabling auto-enabled Aftermath because of incompatible drivers, install recommended driver version.
2023-01-14 07:24:48 [4,689ms] [Error] [carb.graphics-direct3d.plugin] HRESULT: 0x887a0004
2023-01-14 07:24:48 [4,690ms] [Error] [carb.graphics-direct3d.plugin] D3D12CreateDevice failed for the selected physicalDevice.
2023-01-14 07:24:48 [4,691ms] [Warning] [gpu.foundation.plugin] An unsupported driver or hardware is found. createDevice() failed for GPU: 1. Skipping this device
|---------------------------------------------------------------------------------------------|
| Driver Version: 528.2 | Graphics API: D3D12
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 2070 | Yes: 0 | | 8019 MB | 10de | df860000… |
| | | | | | 1f02 | 0 |
|---------------------------------------------------------------------------------------------|
| 1 | Intel(R) HD Graphics 4600 | | | 112 MB | 8086 | 10b59000… |
| | | | | | 412 | 0 |
|=============================================================================================|
| OS: Windows, Version: 10.0, Build: 19045
| Processor: Intel(R) Core™ i7-4770S CPU @ 3.10GHz | Cores: 4 | Logical: 8
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 32666 | Free Memory: 23195
| Total Page/Swap (MB): 34714 | Free Page/Swap: 21598
|---------------------------------------------------------------------------------------------|
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2023-01-14 07:24:52 [9,043ms] [Warning] [omni.ext._impl.internal] There is already a module ‘pxr.UsdPhysics’ in 'C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\extscore\omni.usd.schema.physics\pxr\UsdPhysics_init.py’. Can’t import another module with the same name in public space from ‘c:\users\administrator\appdata\local\ov\pkg\isaac_sim-2022.2.0\kit\extsphysics\omni.usd.schema.physics’.
2023-01-14 07:24:52 [9,146ms] [Warning] [omni.ext._impl.internal] There is already a module ‘usd.schema.physics’ in 'C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\extscore\omni.usd.schema.physics\usd\schema\physics_init.py’. Can’t import another module with the same name in public space from ‘c:\users\administrator\appdata\local\ov\pkg\isaac_sim-2022.2.0\kit\extsphysics\omni.usd.schema.physics’.
[9.339s] [ext: omni.usd.schema.physx-0.0.0] startup
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OmniAssetFileFormat
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[15.788s] [ext: omni.kit.manipulator.viewport-104.0.7] startup
2023-01-14 07:24:59 [15,645ms] [Warning] [carb] [Plugin: omni.structuredlog.plugin.dll] Module c:/users/administrator/appdata/local/ov/pkg/isaac_sim-2022.2.0/kit/omni.structuredlog.plugin.dll remained loaded after unload request
2023-01-14 07:24:59 [15,653ms] [Error] [carb.scripting-python.plugin] RuntimeError: Failed to acquire interface: omni::kit::IViewport (pluginName: nullptr)
At:
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/exts/omni.kit.manipulator.viewport\omni\kit\manipulator\viewport\manipulator_factory.py(95): startup
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/exts/omni.kit.manipulator.viewport\omni\kit\manipulator\viewport\extension.py(13): on_startup
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/kernel/py\omni\ext_impl_internal.py(146): _startup_ext
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/kernel/py\omni\ext_impl_internal.py(197): startup
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/kernel/py\omni\ext_impl_internal.py(280): startup_extension
PythonExtension.cpp::startup()(2):
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts/omni.isaac.kit\omni\isaac\kit\simulation_app.py(284): _start_app
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts/omni.isaac.kit\omni\isaac\kit\simulation_app.py(169): init
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts/omni.isaac.gym\omni\isaac\gym\vec_env\vec_env_base.py(37): init
scripts/rlgames_train.py(93): parse_hydra_configs
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra\core\utils.py(160): run_job
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\hydra.py(106): run
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(381):
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(211): run_and_report
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(378): _run_hydra
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra\main.py(52): decorated_main
scripts/rlgames_train.py(139):
2023-01-14 07:24:59 [15,654ms] [Error] [omni.ext.plugin] [ext: omni.kit.manipulator.viewport-104.0.7] Failed to startup python extension.
[16.845s] [ext: omni.kit.graph.editor.core-1.4.7] startup
[16.882s] [ext: omni.isaac.core-1.42.0] startup
[18.117s] [ext: omni.graph.visualization.nodes-2.0.0] startup
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2023-01-14 07:25:01 [18,032ms] [Warning] [omni.isaac.isaac_sensor] omni.isaac.isaac_sensor is deprecated and was renamed; use omni.isaac.sensor
[18.226s] [ext: omni.isaac.surface_gripper-0.3.2] startup
2023-01-14 07:25:01 [18,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Surface Gripper *********************
2023-01-14 07:25:01 [18,051ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Surface Gripper uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
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[18.357s] [ext: omni.isaac.mjcf-0.3.0] startup
2023-01-14 07:25:01 [18,197ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription MJCF Importer *********************
2023-01-14 07:25:01 [18,198ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] MJCF Importer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[18.395s] [ext: omni.graph.window.generic-1.3.10] startup
2023-01-14 07:25:01 [18,216ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Push Graph *********************
2023-01-14 07:25:01 [18,216ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Push Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:01 [18,217ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Lazy Graph *********************
2023-01-14 07:25:01 [18,218ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Lazy Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[18.412s] [ext: omni.kit.widget.spinner-1.0.4] startup
[18.435s] [ext: omni.kit.window.cursor-1.1.1] startup
[18.454s] [ext: omni.isaac.lula-1.2.1] startup
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[18.696s] [ext: omni.kit.viewport.menubar.core-104.4.1] startup
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[18.870s] [ext: omni.kit.widget.zoombar-1.0.4] startup
[18.877s] [ext: omni.syntheticdata-0.2.4] startup
2023-01-14 07:25:02 [18,752ms] [Warning] [omni.kit.viewport.menubar.core.menu_item.viewport_menu_item] ViewportMenuItem order argument is deprecated, use order_setting_path
[18.984s] [ext: omni.isaac.motion_generation-4.5.5] startup
[19.026s] [ext: omni.kit.browser.core-2.2.1] startup
[19.087s] [ext: omni.isaac.synthetic_utils-0.4.2] startup
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2023-01-14 07:25:02 [19,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription URDF Importer *********************
2023-01-14 07:25:02 [19,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] URDF Importer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,040ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter URDF *********************
2023-01-14 07:25:02 [19,041ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,074ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Franka URDF *********************
2023-01-14 07:25:02 [19,075ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Franka URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,107ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Kaya URDF *********************
2023-01-14 07:25:02 [19,108ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Kaya URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,141ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10 URDF *********************
2023-01-14 07:25:02 [19,142ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10 URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[19.366s] [ext: omni.isaac.utils-0.2.3] startup
2023-01-14 07:25:02 [19,193ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR3 *********************
2023-01-14 07:25:02 [19,193ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR3 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,194ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR5 *********************
2023-01-14 07:25:02 [19,194ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR5 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,195ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10 *********************
2023-01-14 07:25:02 [19,196ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,196ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR3e *********************
2023-01-14 07:25:02 [19,197ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR3e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,197ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR5e *********************
2023-01-14 07:25:02 [19,198ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR5e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,198ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10e *********************
2023-01-14 07:25:02 [19,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR16e *********************
2023-01-14 07:25:02 [19,200ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR16e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,200ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Cobotta Pro 900 *********************
2023-01-14 07:25:02 [19,201ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Cobotta Pro 900 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,201ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Cobotta Pro 1300 *********************
2023-01-14 07:25:02 [19,202ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Cobotta Pro 1300 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,203ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Dofbot *********************
2023-01-14 07:25:02 [19,203ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Dofbot uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,204ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Franka *********************
2023-01-14 07:25:02 [19,204ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Franka uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,206ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription A1 *********************
2023-01-14 07:25:02 [19,206ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] A1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,207ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Go1 *********************
2023-01-14 07:25:02 [19,207ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Go1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,208ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription ANYmal C *********************
2023-01-14 07:25:02 [19,208ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ANYmal C uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,209ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription ANYmal C *********************
2023-01-14 07:25:02 [19,210ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ANYmal C uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,210ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Crazyflie *********************
2023-01-14 07:25:02 [19,211ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Crazyflie uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,211ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Quadcopter *********************
2023-01-14 07:25:02 [19,212ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Quadcopter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,212ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter V1 *********************
2023-01-14 07:25:02 [19,213ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter V1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,213ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter V2 *********************
2023-01-14 07:25:02 [19,214ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter V2 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,214ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Jetbot *********************
2023-01-14 07:25:02 [19,215ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Jetbot uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,216ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Jetracer *********************
2023-01-14 07:25:02 [19,216ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Jetracer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,217ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Kaya *********************
2023-01-14 07:25:02 [19,217ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Kaya uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,218ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Transporter *********************
2023-01-14 07:25:02 [19,219ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Transporter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,219ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Flat Grid *********************
2023-01-14 07:25:02 [19,220ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Flat Grid uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,220ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Grid Room *********************
2023-01-14 07:25:02 [19,221ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Grid Room uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,222ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Simple Room *********************
2023-01-14 07:25:02 [19,222ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Simple Room uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,223ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Small Warehouse *********************
2023-01-14 07:25:02 [19,223ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Small Warehouse uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,224ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Small Warehouse With Multiple Shelves *********************
2023-01-14 07:25:02 [19,224ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Small Warehouse With Multiple Shelves uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,225ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Full Warehouse *********************
2023-01-14 07:25:02 [19,225ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Full Warehouse uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,226ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Hospital *********************
2023-01-14 07:25:02 [19,227ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Hospital uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,227ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Office *********************
2023-01-14 07:25:02 [19,228ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Office uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,228ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription tag36h11 *********************
2023-01-14 07:25:02 [19,229ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] tag36h11 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,229ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Allegro Hand *********************
2023-01-14 07:25:02 [19,230ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Allegro Hand uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:02 [19,231ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Shadow Hand *********************
2023-01-14 07:25:02 [19,231ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Shadow Hand uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[19.426s] [ext: omni.kit.browser.sample-1.2.4] startup
[19.442s] [ext: omni.graph.scriptnode-0.9.3] startup
[19.468s] [ext: omni.command.usd-1.0.1] startup
[19.503s] [ext: omni.warp-0.6.1] startup
Warp 0.6.1 initialized:
CUDA Toolkit: 11.5, Driver: 12.0
Devices:
“cpu” | Intel64 Family 6 Model 60 Stepping 3, GenuineIntel
“cuda:0” | NVIDIA GeForce RTX 2070 (sm_75)
Kernel cache: C:\Users\Administrator\AppData\Local\NVIDIA Corporation\warp\Cache\0.6.1
[20.716s] [ext: omni.kit.widget.live_session_management-1.1.3] startup
[20.733s] [ext: omni.kit.hotkeys.core-1.0.8] startup
[20.784s] [ext: omni.replicator.core-1.6.4] startup
2023-01-14 07:25:04 [20,729ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
[21.211s] [ext: omni.kit.widget.highlight_label-1.0.0] startup
[21.217s] [ext: omni.kit.widget.layers-1.6.9] startup
[21.287s] [ext: omni.isaac.core_nodes-0.21.0] startup
[21.387s] [ext: omni.kit.actions.window-1.1.0] startup
[21.426s] [ext: omni.isaac.debug_draw-0.2.2] startup
[21.455s] [ext: omni.kit.property.layer-1.1.3] startup
[21.478s] [ext: omni.isaac.wheeled_robots-0.6.1] startup
[21.602s] [ext: omni.kit.hotkeys.window-1.1.3] startup
[21.641s] [ext: omni.isaac.occupancy_map-0.2.6] startup
2023-01-14 07:25:05 [21,477ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Occupancy Map *********************
2023-01-14 07:25:05 [21,478ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Occupancy Map uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:05 [21,502ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Block World Generator *********************
2023-01-14 07:25:05 [21,502ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Block World Generator uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[21.703s] [ext: omni.kit.property.audio-1.0.6] startup
[21.715s] [ext: omni.kit.property.camera-1.0.3] startup
[21.724s] [ext: omni.kit.property.geometry-1.2.2] startup
[21.738s] [ext: omni.kit.widget.stage_icons-1.0.2] startup
[21.752s] [ext: omni.kit.property.light-1.0.6] startup
[21.762s] [ext: omni.kit.property.material-1.8.16] startup
[21.781s] [ext: omni.hydra.scene_api-0.1.1] startup
[21.815s] [ext: omni.kit.window.stage-2.3.11] startup
[21.839s] [ext: omni.kit.property.render-1.1.0] startup
[21.848s] [ext: omni.kit.property.skel-1.0.1] startup
[21.860s] [ext: omni.kit.property.transform-1.3.4] startup
[21.883s] [ext: omni.kit.menu.stage-1.2.1] startup
[21.903s] [ext: omni.kit.manipulator.transform-104.6.11] startup
[21.925s] [ext: omni.kit.profiler.window-2.0.4] startup
[24.610s] [ext: omni.kit.property.bundle-1.2.6] startup
[24.619s] [ext: omni.kit.manipulator.selector-1.0.1] startup
[24.628s] [ext: omni.kit.manipulator.tool.snap-1.2.2] startup
[24.668s] [ext: omni.kit.window.toolbar-1.3.3] startup
[24.721s] [ext: omni.kit.property.isaac-0.1.1] startup
[24.731s] [ext: omni.kit.stage_column.payload-1.0.8] startup
[24.763s] [ext: omni.kit.manipulator.camera-104.0.22] startup
[24.765s] [ext: omni.kit.manipulator.prim-104.10.5] startup
2023-01-14 07:25:08 [24,600ms] [Error] [carb.scripting-python.plugin] AttributeError: ‘NoneType’ object has no attribute ‘_create_manipulator’
At:
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/exts/omni.kit.manipulator.viewport\omni\kit\manipulator\viewport\manipulator_factory.py(72): create_manipulator
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/extscore/omni.kit.manipulator.prim\omni\kit\manipulator\prim\prim_transform_manipulator.py(66): init
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/extscore/omni.kit.manipulator.prim\omni\kit\manipulator\prim\extension.py(24): on_startup
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/kernel/py\omni\ext_impl_internal.py(146): _startup_ext
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/kernel/py\omni\ext_impl_internal.py(197): startup
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/kernel/py\omni\ext_impl_internal.py(280): startup_extension
PythonExtension.cpp::startup()(2):
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts/omni.isaac.kit\omni\isaac\kit\simulation_app.py(284): _start_app
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts/omni.isaac.kit\omni\isaac\kit\simulation_app.py(169): init
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts/omni.isaac.gym\omni\isaac\gym\vec_env\vec_env_base.py(37): init
scripts/rlgames_train.py(93): parse_hydra_configs
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra\core\utils.py(160): run_job
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\hydra.py(106): run
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(381):
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(211): run_and_report
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(378): _run_hydra
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra\main.py(52): decorated_main
scripts/rlgames_train.py(139):
2023-01-14 07:25:08 [24,602ms] [Error] [omni.ext.plugin] [ext: omni.kit.manipulator.prim-104.10.5] Failed to startup python extension.
[26.000s] [ext: omni.kit.manipulator.selection-104.0.6] startup
[26.002s] [ext: omni.kit.viewport.menubar.camera-104.1.7] startup
[26.051s] [ext: omni.kit.viewport.menubar.render-104.0.19] startup
[26.074s] [ext: omni.kit.viewport.menubar.display-104.1.11] startup
[26.087s] [ext: omni.physx.commands-104.1.6-5.1] startup
[26.115s] [ext: omni.kit.viewport.menubar.settings-104.3.4] startup
[26.148s] [ext: omni.rtx.window.settings-0.6.2] startup
[26.226s] [ext: omni.kit.stage_column.variant-1.0.9] startup
[26.253s] [ext: omni.physx.ui-104.1.6-5.1] startup
[26.642s] [ext: omni.kit.viewport.bundle-104.0.2] startup
[26.642s] [ext: omni.hydra.pxr.settings-1.0.3] startup
[26.673s] [ext: omni.kit.viewport.menubar.lighting-104.0.8] startup
[26.690s] [ext: omni.kit.property.physx-0.1.0] startup
[26.884s] [ext: omni.physx.demos-104.1.6-5.1] startup
[26.909s] [ext: omni.kit.viewport.pxr-104.0.1] startup
[26.910s] [ext: omni.kit.viewport.ready-1.0.2] startup
[26.916s] [ext: omni.kit.viewport.rtx-104.0.0] startup
[26.916s] [ext: omni.physx.camera-104.1.6-5.1] startup
[26.953s] [ext: omni.kit.selection-0.1.0] startup
[26.969s] [ext: omni.physx.cct-104.1.6-5.1] startup
[29.255s] [ext: omni.physx.supportui-104.1.6-5.1] startup
[29.674s] [ext: omni.kit.widget.live-2.0.3] startup
[29.703s] [ext: omni.physx.vehicle-104.1.6-5.1] startup
[29.789s] [ext: omni.kit.menu.edit-1.1.5] startup
2023-01-14 07:25:13 [29,628ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Grid Visibility *********************
2023-01-14 07:25:13 [29,629ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Grid Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,629ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Camera Visibility *********************
2023-01-14 07:25:13 [29,630ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Camera Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,631ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Light Visibility *********************
2023-01-14 07:25:13 [29,631ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Light Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[29.825s] [ext: omni.kit.window.commands-0.2.4] startup
[29.859s] [ext: omni.kit.window.console-0.2.3] startup
[29.893s] [ext: omni.physx.bundle-104.1.6-5.1] startup
[29.894s] [ext: omni.graph.bundle.action-1.3.0] startup
[29.894s] [ext: omni.isaac.range_sensor-0.7.0] startup
2023-01-14 07:25:13 [29,751ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Rotating *********************
2023-01-14 07:25:13 [29,752ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Rotating uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,753ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Generic *********************
2023-01-14 07:25:13 [29,753ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Generic uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,754ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Array *********************
2023-01-14 07:25:13 [29,754ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Array uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,755ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Emitter *********************
2023-01-14 07:25:13 [29,756ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Emitter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,756ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription FiringGroup *********************
2023-01-14 07:25:13 [29,757ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] FiringGroup uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,762ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription LIDAR *********************
2023-01-14 07:25:13 [29,763ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] LIDAR uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,803ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Ultrasonic *********************
2023-01-14 07:25:13 [29,803ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Ultrasonic uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [29,839ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Generic Range Sensor *********************
2023-01-14 07:25:13 [29,840ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Generic Range Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[30.092s] [ext: omni.kit.window.script_editor-1.6.4] startup
[30.111s] [ext: omni.kit.window.status_bar-0.1.5] startup
[30.143s] [ext: omni.kit.window.title-1.1.2] startup
[30.151s] [ext: omni.replicator.composer-1.2.3] startup
[30.184s] [ext: omni.replicator.isaac-1.7.3] startup
[30.300s] [ext: omni.isaac.kit-1.2.1] startup
[30.302s] [ext: omni.isaac.sensor-5.3.1] startup
2023-01-14 07:25:13 [30,144ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Contact Sensor *********************
2023-01-14 07:25:13 [30,145ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Contact Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [30,145ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Imu Sensor *********************
2023-01-14 07:25:13 [30,146ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Imu Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [30,173ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Contact *********************
2023-01-14 07:25:13 [30,174ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Contact uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-01-14 07:25:13 [30,177ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription IMU *********************
2023-01-14 07:25:13 [30,178ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] IMU uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[30.404s] [ext: omni.isaac.franka-0.4.0] startup
[30.411s] [ext: omni.resourcemonitor-1.0.0] startup
[30.452s] [ext: omni.rtx.settings.core-0.5.8] startup
[30.484s] [ext: semantics.schema.editor-0.3.2] startup
[30.522s] [ext: omni.kit.menu.file-1.1.3] startup
[30.534s] [ext: omni.isaac.quadruped-1.2.2] startup
[33.836s] [ext: omni.isaac.cortex-0.2.10] startup
[33.837s] [ext: omni.graph.window.action-1.4.0] startup
2023-01-14 07:25:17 [33,673ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Action Graph *********************
2023-01-14 07:25:17 [33,674ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Action Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[33.870s] [ext: omni.kit.window.stats-0.1.2] startup
[33.878s] [ext: omni.isaac.sim.python-2022.2.0] startup
[33.882s] Simulation App Starting
[76.748s] app ready
[77.424s] RTX ready
[78.215s] Simulation App Startup Complete
task:
name: Cartpole
physics_engine: physx
env:
numEnvs: 512
envSpacing: 4.0
resetDist: 3.0
maxEffort: 400.0
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2
sim:
dt: 0.0083
use_gpu_pipeline: True
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
add_distant_light: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: 4
solver_type: 1
use_gpu: True
solver_position_iteration_count: 4
solver_velocity_iteration_count: 0
contact_offset: 0.02
rest_offset: 0.001
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 100.0
gpu_max_rigid_contact_count: 524288
gpu_max_rigid_patch_count: 81920
gpu_found_lost_pairs_capacity: 1024
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1024
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 67108864
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
Cartpole:
override_usd_defaults: False
enable_self_collisions: False
enable_gyroscopic_forces: True
solver_position_iteration_count: 4
solver_velocity_iteration_count: 0
sleep_threshold: 0.005
stabilization_threshold: 0.001
density: -1
max_depenetration_velocity: 100.0
contact_offset: 0.02
rest_offset: 0.001
train:
params:
seed: 42
algo:
name: a2c_continuous
model:
name: continuous_a2c_logstd
network:
name: actor_critic
separate: False
space:
continuous:
mu_activation: None
sigma_activation: None
mu_init:
name: default
sigma_init:
name: const_initializer
val: 0
fixed_sigma: True
mlp:
units: [32, 32]
activation: elu
initializer:
name: default
regularizer:
name: None
load_checkpoint: False
load_path:
config:
name: Cartpole
full_experiment_name: Cartpole
device: cuda:0
device_name: cuda:0
env_name: rlgpu
ppo: True
mixed_precision: False
normalize_input: True
normalize_value: True
num_actors: 512
reward_shaper:
scale_value: 0.1
normalize_advantage: True
gamma: 0.99
tau: 0.95
learning_rate: 0.0003
lr_schedule: adaptive
kl_threshold: 0.008
score_to_win: 20000
max_epochs: 100
save_best_after: 50
save_frequency: 25
grad_norm: 1.0
entropy_coef: 0.0
truncate_grads: True
e_clip: 0.2
horizon_length: 16
minibatch_size: 8192
mini_epochs: 8
critic_coef: 4
clip_value: True
seq_len: 4
bounds_loss_coef: 0.0001
task_name: Cartpole
experiment:
num_envs:
seed: 42
torch_deterministic: False
max_iterations:
physics_engine: physx
pipeline: gpu
sim_device: gpu
device_id: 0
rl_device: cuda:0
num_threads: 4
solver_type: 1
test: False
checkpoint:
headless: False
mt_timeout: 30
wandb_activate: False
wandb_group:
wandb_name: Cartpole
wandb_entity:
wandb_project: omniisaacgymenvs
Setting seed: 42
Sim params does not have attribute: physx
Sim params does not have attribute: Cartpole
Pipeline: GPU
Pipeline Device: cuda:0
Sim Device: GPU
Task Device: cuda:0
RL device: cuda:0
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\gym\spaces\box.py:74: UserWarning: WARN: Box bound precision lowered by casting to float32
“Box bound precision lowered by casting to {}”.format(self.dtype)
[83.492s] [ext: omni.physx.flatcache-104.1.6-5.1] startup
~~~*
~~~* Direct GPU Helper:
~~~* 512 articulations, maxLinks=3
~~~*
self.seed = 42
Started to train
Exact experiment name requested from command line: Cartpole
Box([-1.], [1.], (1,), float32) Box([-inf -inf -inf -inf], [inf inf inf inf], (4,), float32)
current training device: cuda:0
build mlp: 4
RunningMeanStd: (1,)
RunningMeanStd: (4,)
[2023-01-14 15:26:28] Running RL reset
2023-01-14 07:26:28 [104,452ms] [Error] [carb.events.python] AttributeError: ‘PrimTransformManipulator’ object has no attribute ‘_manipulator’
At:
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/extscore/omni.kit.manipulator.prim\omni\kit\manipulator\prim\prim_transform_manipulator.py(151): enabled
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/extscore/omni.kit.manipulator.selector\omni\kit\manipulator\selector\manipulator_selector.py(100): _on_selection_changed
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/extscore/omni.kit.manipulator.selector\omni\kit\manipulator\selector\manipulator_selector.py(85): _refresh
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/extsPhysics/omni.physx.supportui-104.1.6-5.1\omni\physxsupportui\scripts\utils.py(30): refresh_manipulator_selector
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/kit/extsPhysics/omni.physx.supportui-104.1.6-5.1\omni\physxsupportui\scripts\rigid_body_transform_manipulator.py(67): _on_stage_event
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts/omni.isaac.core\omni\isaac\core\simulation_context\simulation_context.py(465): step
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0/exts/omni.isaac.core\omni\isaac\core\world\world.py(338): step
d:\workshop\omniisaacgymenvs\omniisaacgymenvs\envs\vec_env_rlgames.py(65): step
d:\workshop\omniisaacgymenvs\omniisaacgymenvs\envs\vec_env_rlgames.py(88): reset
d:\workshop\omniisaacgymenvs\omniisaacgymenvs\utils\rlgames\rlgames_utils.py(102): reset
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\rl_games\common\a2c_common.py(470): env_reset
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\rl_games\common\a2c_common.py(1162): train
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\rl_games\torch_runner.py(101): run_train
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\rl_games\torch_runner.py(120): run
scripts/rlgames_train.py(83): run
scripts/rlgames_train.py(131): parse_hydra_configs
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra\core\utils.py(160): run_job
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\hydra.py(106): run
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(381):
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(211): run_and_report
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra_internal\utils.py(378): _run_hydra
C:\Users\Administrator\AppData\Local\ov\pkg\isaac_sim-2022.2.0\kit\python\lib\site-packages\hydra\main.py(52): decorated_main
scripts/rlgames_train.py(139):
fps step: 5366 fps step and policy inference: 4786 fps total: 3925 epoch: 1/100
fps step: 4245 fps step and policy inference: 3800 fps total: 3393 epoch: 2/100
fps step: 4231 fps step and policy inference: 3786 fps total: 3414 epoch: 3/100
fps step: 4664 fps step and policy inference: 4155 fps total: 3617 epoch: 4/100
fps step: 4111 fps step and policy inference: 3693 fps total: 3285 epoch: 5/100
fps step: 3736 fps step and policy inference: 3331 fps total: 2888 epoch: 6/100
fps step: 3991 fps step and policy inference: 3582 fps total: 3160 epoch: 7/100
fps step: 4743 fps step and policy inference: 4227 fps total: 3778 epoch: 8/100