nicholas0717
commented
2 years ago Have fixed it. Just download the preview 4 of isaacgym. Preview 3 doesn't support Factory.
Closed nicholas0717 closed 2 years ago
nicholas0717
commented
2 years ago Have fixed it. Just download the preview 4 of isaacgym. Preview 3 doesn't support Factory.
I got a trouble when I ran
python train.py Task=FactoryTaskNutBoltPlace. It showed AttributeError: 'isaacgym._bindings.linux-x86_64.gym_37.AssetOptions' object has no attribute 'enable_gyroscopic_forces'. The full output is below:Error executing job with overrides: ['task=FactoryTaskGears', 'headless=False'] Traceback (most recent call last): File "train.py", line 181, in launch_rlg_hydra 'sigma' : None File "/home/cai/anaconda3/envs/rlgpu/lib/python3.7/site-packages/rl_games/torch_runner.py", line 120, in run self.run_train(args) File "/home/cai/anaconda3/envs/rlgpu/lib/python3.7/site-packages/rl_games/torch_runner.py", line 98, in run_train agent = self.algo_factory.create(self.algo_name, base_name='run', params=self.params) File "/home/cai/anaconda3/envs/rlgpu/lib/python3.7/site-packages/rl_games/common/object_factory.py", line 15, in create return builder(kwargs) File "/home/cai/anaconda3/envs/rlgpu/lib/python3.7/site-packages/rl_games/torch_runner.py", line 39, in
self.algo_factory.register_builder('a2c_continuous', lambda kwargs : a2c_continuous.A2CAgent(kwargs))
File "/home/cai/anaconda3/envs/rlgpu/lib/python3.7/site-packages/rl_games/algos_torch/a2c_continuous.py", line 16, in init
a2c_common.ContinuousA2CBase.init(self, base_name, params)
File "/home/cai/anaconda3/envs/rlgpu/lib/python3.7/site-packages/rl_games/common/a2c_common.py", line 999, in init
A2CBase.init(self, base_name, params)
File "/home/cai/anaconda3/envs/rlgpu/lib/python3.7/site-packages/rl_games/common/a2c_common.py", line 100, in init
self.vec_env = vecenv.create_vec_env(self.env_name, self.num_actors, self.env_config)
File "/home/cai/anaconda3/envs/rlgpu/lib/python3.7/site-packages/rl_games/common/vecenv.py", line 222, in create_vec_env
return vecenv_config[vec_env_name](config_name, num_actors, kwargs)
File "train.py", line 125, in
lambda config_name, num_actors, kwargs: RLGPUEnv(config_name, num_actors, kwargs))
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/utils/rlgames_utils.py", line 153, in init
self.env = env_configurations.configurations[config_name]['env_creator'](kwargs)
File "train.py", line 111, in create_env_thunk
**kwargs,
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/init.py", line 55, in make
return create_rlgpu_env()
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/utils/rlgames_utils.py", line 85, in create_rlgpu_env
force_render=force_render,
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/tasks/factory/factory_task_gears.py", line 54, in init
super().init(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/tasks/factory/factory_env_gears.py", line 55, in init
super().init(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/tasks/factory/factory_base.py", line 64, in init
super().init(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render) # create_sim() is called here
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/tasks/base/vec_task.py", line 215, in init
self.create_sim()
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/tasks/factory/factory_base.py", line 115, in create_sim
self.create_envs() # defined in subclass
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/tasks/factory/factory_env_gears.py", line 85, in create_envs
franka_asset, table_asset = self.import_franka_assets()
File "/home/cai/isaacgym/IsaacGymEnvs/isaacgymenvs/tasks/factory/factory_base.py", line 154, in import_franka_assets
franka_options.enable_gyroscopic_forces = True
AttributeError: 'isaacgym._bindings.linux-x86_64.gym_37.AssetOptions' object has no attribute 'enable_gyroscopic_forces'`
How can I solve this problem? I really need your help. Looking forward your reply. Thanks!