Can not operate

[duidui6666]

When I enter the instructions according to the readme, it cannot run and the error is [Error] [carb.gym.plugin] Failed to parse URDF file 'urdf/kinova_description/robots/gen3.urdf' [Error] [carb.gym.plugin] Failed to import URDF file 'urdf/kinova_description/robots/gen3.urdf' [Error] [carb.gym.plugin] *** Failed to load 'urdf/kinova_description/robots/gen3.urdf' from '/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/tasks/.. /../assets'

[Barath19]

https://github.com/Barath19/robotlearning-2024/blob/main/assets/urdf/kinova_description/robots/gen3.urdf the urdf is still available. Can you provide bit more information on the issue.

[duidui6666]

Failed to load '/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/tasks/../../assets/urdf/kinova_description/robots/gen3.urdf'[Error] [carb.gym.plugin] Failed to parse URDF file 'urdf/kinova_description/robots/gen3.urdf' [Error] [carb.gym.plugin] Failed to import URDF file 'urdf/kinova_description/robots/gen3.urdf' [Error] [carb.gym.plugin] Failed to load 'urdf/kinova_description/robots/gen3.urdf' from '/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/tasks/../../assets' num Kinova bodies: 0 num Kinova dofs: 0 num cabinet bodies: 5 num cabinet dofs: 4 Error executing job with overrides: ['task=KinovaCabinet'] Traceback (most recent call last): File "train.py", line 210, in launch_rlg_hydra runner.run({ File "/home/ylc/anaconda3/envs/isaac_gym/lib/python3.8/site-packages/rl_games/torch_runner.py", line 133, in run self.run_train(args) File "/home/ylc/anaconda3/envs/isaac_gym/lib/python3.8/site-packages/rl_games/torch_runner.py", line 113, in run_train agent = self.algo_factory.create(self.algo_name, base_name='run', params=self.params) File "/home/ylc/anaconda3/envs/isaac_gym/lib/python3.8/site-packages/rl_games/common/object_factory.py", line 15, in create return builder(kwargs) File "/home/ylc/anaconda3/envs/isaac_gym/lib/python3.8/site-packages/rl_games/torch_runner.py", line 37, in self.algo_factory.register_builder('a2c_continuous', lambda kwargs : a2c_continuous.A2CAgent(kwargs)) File "/home/ylc/anaconda3/envs/isaac_gym/lib/python3.8/site-packages/rl_games/algos_torch/a2c_continuous.py", line 15, in init a2c_common.ContinuousA2CBase.init(self, base_name, params) File "/home/ylc/anaconda3/envs/isaac_gym/lib/python3.8/site-packages/rl_games/common/a2c_common.py", line 1143, in init A2CBase.init(self, base_name, params) File "/home/ylc/anaconda3/envs/isaac_gym/lib/python3.8/site-packages/rl_games/common/a2c_common.py", line 129, in init self.vec_env = vecenv.create_vec_env(self.env_name, self.num_actors, self.env_config) File "/home/ylc/anaconda3/envs/isaac_gym/lib/python3.8/site-packages/rl_games/common/vecenv.py", line 224, in create_vec_env return vecenv_config[vec_env_name](config_name, num_actors, kwargs) File "train.py", line 167, in vecenv.register('RLGPU', lambda config_name, num_actors, kwargs: RLGPUEnv(config_name, num_actors, kwargs)) File "/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/utils/rlgames_utils.py", line 244, in init self.env = env_configurations.configurations[config_name]['env_creator'](kwargs) File "train.py", line 149, in 'env_creator': lambda kwargs: create_isaacgym_env(kwargs), File "train.py", line 123, in create_isaacgym_env envs = bitbotsenv.make( File "/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/init.py", line 55, in make return create_rlgpu_env() File "/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/utils/rlgames_utils.py", line 113, in create_rlgpu_env env = isaacgym_task_map[task_name]( File "/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/tasks/kinova_cabinet.py", line 80, in init super().init(config=self.cfg, rl_device=rl_device, sim_device=sim_device, graphics_device_id=graphics_device_id, headless=headless, virtual_screen_capture=virtual_screen_capture, force_render=force_render) File "/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/tasks/base/vec_task.py", line 261, in init self.create_sim() File "/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/tasks/kinova_cabinet.py", line 124, in create_sim self._create_envs(self.num_envs, self.cfg["env"]['envSpacing'], int(np.sqrt(self.num_envs))) File "/home/ylc/G/open_drawer/Pointnet2_PyTorch/isaacgym/IsaacGymEnvs/bitbotsenv/tasks/kinova_cabinet.py", line 195, in _create_envs self.kinova_dof_speed_scales[[7, 8]] = 0.1 IndexError: index is out of bounds for dimension with size 0

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace. These are all the error messages. I would also like to ask if you have encountered the problem of the robot arm coinciding with its own joints during movement (their own joints did not avoid self-collision), and the gripper of the robot arm passing through the object when grabbing the object. Problem with grabbing objects