Fixes the joint_parameter_lookup type in RemotizedPDActuatorCfg to support list format
#1626
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
fan-ziqi
requested review from
Dhoeller19,
Mayankm96,
jsmith-bdai,
jtigue-bdai and
pascal-roth
as code owners
Contributor
|
I like it! |
kellyguo11
changed the title
joint_parameter_lookup type in RemotizedPDActuatorCfg to support list formatjoint_parameter_lookup type in RemotizedPDActuatorCfg to support list format
Contributor
|
Thanks for the fix! |
6 tasks
Contributor
Author
|
Ops, I forgot to modify the |
hapatel-bdai
pushed a commit
that referenced
this pull request
Jan 21, 2025
…o support list format (#1626) # Description Bug description: When I run `python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless` ```bash (isaaclab) ubuntu@ubuntu-4090:~/workspaces/IsaacLab$ python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspaces/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: '/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json' [Info] [carb] Logging to file: /home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20250104_162107.log 2025-01-04 08:21:07 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. |---------------------------------------------------------------------------------------------| | Driver Version: 550.100 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24564 MB | 10de | 0 | | | | | | | 2684 | 16760a40.. | | | | | | | 1 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-126-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0) | Processor: Intel(R) Core(TM) i9-14900KF | Cores: 24 | Logical: 32 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 64106 | Free Memory: 39407 | Total Page/Swap (MB): 2047 | Free Page/Swap: 2046 |---------------------------------------------------------------------------------------------| [INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.flat_env_cfg:SpotFlatEnvCfg [INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.agents.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg Traceback (most recent call last): File "/home/ubuntu/workspaces/IsaacLab/source/standalone/workflows/rsl_rl/train.py", line 151, in <module> main() File "/home/ubuntu/workspaces/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 79, in wrapper env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point) File "/home/ubuntu/workspaces/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 57, in register_task_to_hydra ConfigStore.instance().store(name=task_name, node=cfg_dict) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/hydra/core/config_store.py", line 85, in store cfg = OmegaConf.structured(node) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 125, in structured return OmegaConf.create(obj, parent, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 178, in create return OmegaConf._create_impl( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 900, in _create_impl format_and_raise(node=None, key=None, value=None, msg=str(e), cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 861, in _create_impl return DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 899, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1045, in _node_wrap node = AnyNode(value=value, key=key, parent=parent) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 135, in __init__ super().__init__( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 29, in __init__ self._set_value(value) # lgtm [py/init-calls-subclass] File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 46, in _set_value self._val = self.validate_and_convert(value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 76, in validate_and_convert return self._validate_and_convert_impl(value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 154, in _validate_and_convert_impl raise UnsupportedValueType( omegaconf.errors.UnsupportedValueType: Value 'Tensor' is not a supported primitive type full_key: env.scene.robot.actuators.spot_knee.joint_parameter_lookup object_type=dict ``` ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
SevenFo
pushed a commit
to SevenFo/IsaacLab
that referenced
this pull request
May 19, 2025
…o support list format (isaac-sim#1626) # Description Bug description: When I run `python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless` ```bash (isaaclab) ubuntu@ubuntu-4090:~/workspaces/IsaacLab$ python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspaces/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: '/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json' [Info] [carb] Logging to file: /home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20250104_162107.log 2025-01-04 08:21:07 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. |---------------------------------------------------------------------------------------------| | Driver Version: 550.100 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24564 MB | 10de | 0 | | | | | | | 2684 | 16760a40.. | | | | | | | 1 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-126-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0) | Processor: Intel(R) Core(TM) i9-14900KF | Cores: 24 | Logical: 32 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 64106 | Free Memory: 39407 | Total Page/Swap (MB): 2047 | Free Page/Swap: 2046 |---------------------------------------------------------------------------------------------| [INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.flat_env_cfg:SpotFlatEnvCfg [INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.agents.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg Traceback (most recent call last): File "/home/ubuntu/workspaces/IsaacLab/source/standalone/workflows/rsl_rl/train.py", line 151, in <module> main() File "/home/ubuntu/workspaces/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 79, in wrapper env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point) File "/home/ubuntu/workspaces/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 57, in register_task_to_hydra ConfigStore.instance().store(name=task_name, node=cfg_dict) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/hydra/core/config_store.py", line 85, in store cfg = OmegaConf.structured(node) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 125, in structured return OmegaConf.create(obj, parent, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 178, in create return OmegaConf._create_impl( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 900, in _create_impl format_and_raise(node=None, key=None, value=None, msg=str(e), cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 861, in _create_impl return DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 899, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1045, in _node_wrap node = AnyNode(value=value, key=key, parent=parent) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 135, in __init__ super().__init__( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 29, in __init__ self._set_value(value) # lgtm [py/init-calls-subclass] File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 46, in _set_value self._val = self.validate_and_convert(value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 76, in validate_and_convert return self._validate_and_convert_impl(value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 154, in _validate_and_convert_impl raise UnsupportedValueType( omegaconf.errors.UnsupportedValueType: Value 'Tensor' is not a supported primitive type full_key: env.scene.robot.actuators.spot_knee.joint_parameter_lookup object_type=dict ``` ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Bug description: When I run
python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headlessType of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there