[Bug Report] The DOC https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/create_manager_rl_env.html report an error

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Describe the bug

I met an error when I ran the file in the tutorials of the doc files " https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/create_manager_rl_env.html".

Steps to reproduce

python -p source/standalone/tutorials/03_envs/run_cartpole_rl_env.py --num_envs 32

[INFO][AppLauncher]: Loading experience file: /home/ferry/Code/Sim/IsaacLab/source/apps/isaaclab.python.kit
Loading user config located at: '/home/ferry/.local/share/ov/pkg/isaac-sim-4.2.0/kit/data/Kit/Isaac-Sim/4.2/user.config.json'
[Info] [carb] Logging to file: /home/ferry/.local/share/ov/pkg/isaac-sim-4.2.0/kit/logs/Kit/Isaac-Sim/4.2/kit_20241030_232947.log
2024-10-30 15:29:47 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
2024-10-30 15:29:47 [20ms] [Warning] [omni.ext.plugin] [ext: __pycache__] Extensions config 'extension.toml' doesn't exist '/home/ferry/Code/Research/IsaacLab_Learn/RL_Policy/Create_a_Manager_based_RL_Env/__pycache__' or '/home/ferry/Code/Research/IsaacLab_Learn/RL_Policy/Create_a_Manager_based_RL_Env/__pycache__/config'

|---------------------------------------------------------------------------------------------|
| Driver Version: 560.35.03     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 4090 D        | Yes: 0 |     | 24810   MB | 10de      | 0          |
|     |                                  |        |     |            | 2685      | 0f159d70.. |
|     |                                  |        |     |            | 1         |            |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-107-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: 13th Gen Intel(R) Core(TM) i7-13700 | Cores: 16 | Logical: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31779 | Free Memory: 15439
| Total Page/Swap (MB): 2047 | Free Page/Swap: 1994
|---------------------------------------------------------------------------------------------|
2024-10-30 15:29:52 [4,678ms] [Error] [omni.kit.stage_templates.new_stage] Failed to create directory /home/ferry/Documents/Kit/apps/Isaac-Sim/scripts/new_stage
2024-10-30 15:29:53 [5,694ms] [Error] [omni.kit.menu.edit.scripts.screenshot_page] Failed to create directory /home/ferry/Documents/Kit/shared/screenshots/
2024-10-30 15:29:53 [5,810ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
2024-10-30 15:29:53 [6,013ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance.
2024-10-30 15:29:54 [6,680ms] [Error] [rtx.neuraylib.plugin] Cannot find `Documents/Kit/shared` directory.
2024-10-30 15:29:57 [9,833ms] [Warning] [omni.isaac.lab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
[INFO]: Base environment:
    Environment device    : cuda:0
    Environment seed      : None
    Physics step-size     : 0.008333333333333333
    Rendering step-size   : 0.016666666666666666
    Environment step-size : 0.016666666666666666
[INFO]: Time taken for scene creation : 2.235946 seconds
[INFO]: Scene manager:  <class InteractiveScene>
    Number of environments: 32
    Environment spacing   : 4.0
    Source prim name      : /World/envs/env_0
    Global prim paths     : []
    Replicate physics     : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
2024-10-30 15:30:00 [13,133ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/Robot/pole/visuals.proto_mesh_0_id0 that has not been populated
[INFO]: Time taken for simulation start : 1.058464 seconds
[INFO] Command Manager:  <CommandManager> contains 0 active terms.
+------------------------+
|  Active Command Terms  |
+--------+-------+-------+
| Index  | Name  |  Type |
+--------+-------+-------+
+--------+-------+-------+

[INFO] Action Manager:  <ActionManager> contains 1 active terms.
+----------------------------------+
|  Active Action Terms (shape: 1)  |
+-------+--------------+-----------+
| Index | Name         | Dimension |
+-------+--------------+-----------+
|   0   | joint_effort |         1 |
+-------+--------------+-----------+

[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+--------------------------------------------------------+
| Active Observation Terms in Group: 'policy' (shape: (7,)) |
+-----------+--------------------------------+-----------+
|   Index   | Name                           |   Shape   |
+-----------+--------------------------------+-----------+
|     0     | joint_pos_rel                  |    (2,)   |
|     1     | joint_vel_rel                  |    (2,)   |
|     2     | velocity_commands              |    (3,)   |
+-----------+--------------------------------+-----------+

[INFO] Event Manager:  <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+---------+---------------------------+
|  Index  | Name                      |
+---------+---------------------------+
|    0    | reset_cart_position       |
|    1    | reset_pole_position       |
+---------+---------------------------+

[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
+---------------------------------------+
|        Active Termination Terms       |
+-------+--------------------+----------+
| Index | Name               | Time Out |
+-------+--------------------+----------+
|   0   | time_out           |   True   |
|   1   | cart_out_of_bounds |  False   |
+-------+--------------------+----------+

[INFO] Reward Manager:  <RewardManager> contains 5 active terms.
+------------------------------+
|     Active Reward Terms      |
+-------+-------------+--------+
| Index | Name        | Weight |
+-------+-------------+--------+
|   0   | alive       |    1.0 |
|   1   | terminating |   -2.0 |
|   2   | pole_pos    |   -1.0 |
|   3   | cart_vel    |  -0.01 |
|   4   | pole_vel    |  0.005 |
+-------+-------------+--------+

[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
+----------------------+
| Active Curriculum Terms |
+-----------+----------+
|   Index   | Name     |
+-----------+----------+
+-----------+----------+

Creating window for environment.
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-30 15:30:00 [13,207ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
Traceback (most recent call last):
  File "/home/ferry/Code/Research/IsaacLab_Learn/RL_Policy/Create_a_Manager_based_RL_Env/run_cartpole_rl_env.py", line 24, in <module>
    env = ManagerBasedRLEnv(cfg=env_cfg,debug_vis=False)
  File "/home/ferry/Code/Sim/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py", line 75, in __init__
    super().__init__(cfg=cfg)
  File "/home/ferry/Code/Sim/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py", line 148, in __init__
    self._window = self.cfg.ui_window_class_type(self, window_name="IsaacLab")
  File "/home/ferry/Code/Sim/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py", line 37, in __init__
    self._create_debug_vis_ui_element("commands", self.env.command_manager)
  File "/home/ferry/Code/Sim/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py", line 385, in _create_debug_vis_ui_element
    checked=elem.cfg.debug_vis,
AttributeError: 'NoneType' object has no attribute 'debug_vis'
2024-10-30 15:30:00 [13,293ms] [Warning] [carb] Recursive unloadAllPlugins() detected!

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System Info

Describe the characteristic of your environment:

Commit: 7d40df3
Isaac Sim Version: 4.2.0
OS: Ubuntu 20.04
GPU:RTX 4090 D
CUDA: 12.6
GPU Driver: 560.35.03

Additional context

Add any other context about the problem here.

Checklist

[x] I have checked that there is no similar issue in the repo (required)
[x] I have checked that the issue is not in running Isaac Sim itself and is related to the repo

I'm also encountering this error. It's a bit confusing... on line 385 of base_env_window.py, when elem,.cfg.debug_vis is accessed, the NoneType error is thrown. Strangely, when I tried to debug print it, it both printed the value, and then threw the NoneType error for the debug print.... Here's a full stack trace after running: HYDRA_FULL_ERROR=1 ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64

# omitted above prints that seemed irrelevant)
Creating window for environment.
Error executing job with overrides: []
Traceback (most recent call last):
  File "/home/chris/Documents/isaaclab99/IsaacLab/source/standalone/workflows/sb3/train.py", line 156, in <module>
    main()
  File "/home/chris/Documents/isaaclab99/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 102, in wrapper
    hydra_main()
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/main.py", line 94, in decorated_main
    _run_hydra(
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/_internal/utils.py", line 394, in _run_hydra
    _run_app(
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/_internal/utils.py", line 457, in _run_app
    run_and_report(
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/_internal/utils.py", line 223, in run_and_report
    raise ex
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/_internal/utils.py", line 220, in run_and_report
    return func()
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/_internal/utils.py", line 458, in <lambda>
    lambda: hydra.run(
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/_internal/hydra.py", line 132, in run
    _ = ret.return_value
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/core/utils.py", line 260, in return_value
    raise self._return_value
  File "/home/chris/.local/lib/python3.10/site-packages/hydra/core/utils.py", line 186, in run_job
    ret.return_value = task_function(task_cfg)
  File "/home/chris/Documents/isaaclab99/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 99, in hydra_main
    func(env_cfg, agent_cfg, *args, **kwargs)
  File "/home/chris/Documents/isaaclab99/IsaacLab/source/standalone/workflows/sb3/train.py", line 106, in main
    env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
  File "/home/chris/anaconda3/envs/isaaclab99/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 802, in make
    env = env_creator(**env_spec_kwargs)
  File "/home/chris/Documents/isaaclab99/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py", line 75, in __init__
    super().__init__(cfg=cfg)
  File "/home/chris/Documents/isaaclab99/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py", line 148, in __init__
    self._window = self.cfg.ui_window_class_type(self, window_name="IsaacLab")
  File "/home/chris/Documents/isaaclab99/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py", line 37, in __init__
    self._create_debug_vis_ui_element("commands", self.env.command_manager)
  File "/home/chris/Documents/isaaclab99/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py", line 385, in _create_debug_vis_ui_element
    checked=elem.cfg.debug_vis,
AttributeError: 'NoneType' object has no attribute 'debug_vis'

If I set line 385 to True or False instead of checking the debuig_vis parameter, then it the environment works fine and the cartpoles learn.

System Info

Isaac Sim Version: 4.2.0
OS: Ubuntu 22.10 (Kinetic)
GPU:RTX 4090
CUDA: 12.2
GPU Driver: 535.129.03

Additional Context:

I manually set up my environment rather than using docker, so possibly I missed a step and am missing something or have the wrong version of something. Let me know if there is any other information I can snag to help diagnose the problem.

isaac-sim / IsaacLab