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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.ai/
Apache License 2.0
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Getting error when reseting environment without `reconfigure=False` #382

Closed rafaelBauer closed 3 months ago

rafaelBauer commented 3 months ago

Library version: mani_skill==3.0.0b4 Python: 3.11.0

I am getting the following error when calling env.reset():

  File "/home/bauerr/git/project/src/controller/controller.py", line 193, in reset
    self._previous_observation = self.__reset_function()
                                 ^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/bauerr/git/project/src/envs/maniskill.py", line 89, in reset
    observation, _ = self.__env.reset()
                         ^^^^^^^^^^^^^^^^^^
  File "/home/bauerr/miniconda3/envs/project/lib/python3.11/site-packages/gymnasium/wrappers/time_limit.py", line 75, in reset
    return self.env.reset(**kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/bauerr/miniconda3/envs/project/lib/python3.11/site-packages/gymnasium/wrappers/order_enforcing.py", line 61, in reset
    return self.env.reset(**kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/bauerr/miniconda3/envs/project/lib/python3.11/site-packages/mani_skill/envs/sapien_env.py", line 701, in reset
    self.agent.reset()
  File "/home/bauerr/miniconda3/envs/project/lib/python3.11/site-packages/mani_skill/agents/base_agent.py", line 312, in reset
    self.controller.reset()
  File "/home/bauerr/miniconda3/envs/project/lib/python3.11/site-packages/mani_skill/agents/controllers/base_controller.py", line 236, in reset
    controller.reset()
  File "/home/bauerr/miniconda3/envs/project/lib/python3.11/site-packages/mani_skill/agents/controllers/pd_joint_pos.py", line 64, in reset
    self._target_qpos[self.scene._reset_mask] = self.qpos[
    ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: Index put requires the source and destination dtypes match, got Double for the destination and Float for the source.

I have the pd_joint_pos controller.

Any pointers? I will check if while the reset() is called I am still sending step commands. Could this be a reason?

rafaelBauer commented 3 months ago

Digging further, I saw that the Tensor self.qpos is a torch.float32 and the other, self._target_qpos, is torch.float64. I made sure that the action I give in the step method is a torch.float32 and now the problem doesn't happen anymore

StoneT2000 commented 3 months ago

Ah thanks for raising this issue. This sounds more like a bug that we should fool-proof so someone sending a float64 is warned about it.

rafaelBauer commented 3 months ago

Yeah, I think so too.. I have closed the issue myself, because I didn't want to bother you with it, but maybe you should keep it open.