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btx0424 / OmniDrones

https://omnidrones.readthedocs.io/
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Error running "python train.py task=Hover total_frames=100_000_000 eval_interval=60 headless=true" #49

Open JJJJJllll opened 4 months ago

JJJJJllll commented 4 months ago

Hi there, I hope it finds you well. I'm using Issac Sim 2023.1.1. I followed through your instructions on Installation and successfully came to "Running the RL Scripts". I can run python train.py task=Hover headless=true and see results on wandb. but I can‘t run python train.py task=Hover total_frames=100_000_000 eval_interval=60 headless=true the error message is: 

2024-02-26 12:44:35 [534,839ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_1237/Firefly_0/rotor_4
2024-02-26 12:44:35 [534,839ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_124/Firefly_0/rotor_4
2024-02-26 12:44:35 [534,839ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_2141/Firefly_0/rotor_4
2024-02-26 12:44:35 [534,839ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_1242/Firefly_0/rotor_4
2024-02-26 12:44:35 [534,843ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpArticulationLink.cpp, LINE 343
2024-02-26 12:44:35 [534,843ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpArticulationLink.cpp, LINE 343
2024-02-26 12:44:35 [534,843ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpArticulationLink.cpp, LINE 343
2024-02-26 12:44:36 [535,909ms] [Error] [omni.physx.tensors.plugin] GPU tensor function getRootTransforms can only be called after at least one simulation step was performed!

Can you help me with it?

btx0424 commented 4 months ago

Hi there. I believe Isaac Sim 2023.1.0 (hotfix or not) does not have this issue. I recommend not using Isaac Sim 2023.1.1 for now. I will look into the problem and get back to you.

JJJJJllll commented 4 months ago

Thanks! I'll try Isaac Sim 2023.1.0.

kisisjrlly commented 1 week ago

set prepare_contact_sensors to false in _RigidPrimView _init__