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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Bug Report] AttributeError: 'FrankaReachEnvCfg' object has no attribute 'control' #228

Closed AliBuildsAI closed 4 months ago

AliBuildsAI commented 7 months ago

Describe the bug

When I run collect_demonstration.py, I get the following error: AttributeError: 'FrankaReachEnvCfg' object has no attribute 'control'

(Note: I checked the code and the environemnets actually don't have the attribute control. They used to have it before the major updates, and it seems like this scripts has not been modified accordingly.)

Steps to reproduce

./orbit.sh -p source/standalone/workflows/robomimic/collect_demonstrations.py --task Isaac-Reach-Franka-v0

Here is the full log

cd /home/ali/repos/orbit ; /usr/bin/env /home/ali/miniconda3/envs/orbit24/bin/python /home/ali/.vscode/extensions/ms-python.python-2023.22.1/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher 36157 -- /home/ali/repos/orbit/source/standalone/workflows/robomimic/collect_demonstrations.py 
[INFO][AppLauncher]: Loading experience file:  .
Starting kit application with the following args:  ['/home/ali/repos/orbit/_isaac_sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/ali/repos/orbit/_isaac_sim/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/ali/repos/orbit/_isaac_sim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/ali/repos/orbit/_isaac_sim/exts', '--ext-folder', '/home/ali/repos/orbit/_isaac_sim/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application:  []
[Info] [carb] Logging to file: /home/ali/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/logs/Kit/Isaac-Sim/2023.1/kit_20240202_170500.log
2024-02-03 01:05:00 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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|---------------------------------------------------------------------------------------------|
| Driver Version: 525.147.05    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
|     |                                  |        |     |            | 2684      | ee556d89.. |
|     |                                  |        |     |            | 65        |            |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-92-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Core(TM) i9-10900X CPU @ 3.70GHz | Cores: 10 | Logical: 20
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 63979 | Free Memory: 54675
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
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Warp 1.0.0-beta.2 initialized:
   CUDA Toolkit: 11.5, Driver: 12.0
   Devices:
     "cpu"    | x86_64
     "cuda:0" | NVIDIA GeForce RTX 4090 (sm_89)
   Kernel cache: /home/ali/.cache/warp/1.0.0-beta.2
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[11.474s] [ext: omni.kit.window.console-0.2.10] startup
[11.486s] [ext: omni.kit.property.physx-0.1.0] startup
[11.580s] [ext: omni.kit.actions.window-1.1.0] startup
[11.587s] [ext: omni.physx.demos-105.1.12-5.1] startup
[11.593s] [ext: omni.kit.manipulator.prim-105.0.11] startup
[11.605s] [ext: omni.kit.window.toolbar-1.5.4] startup
[11.609s] [ext: omni.kit.manipulator.selection-104.0.8] startup
[11.612s] [ext: omni.kit.window.script_editor-1.7.4] startup
[11.617s] [ext: omni.kit.hotkeys.window-1.4.1] startup
[11.627s] [ext: omni.physx.camera-105.1.12-5.1] startup
[11.637s] [ext: omni.physx.cct-105.1.12-5.1] startup
[11.673s] [ext: omni.physx.graph-105.1.12-5.1] startup
[11.700s] [ext: omni.physx.supportui-105.1.12-5.1] startup
[11.722s] [ext: omni.physx.vehicle-105.1.12-5.1] startup
[11.743s] [ext: omni.kit.stage_column.payload-1.0.12] startup
[11.749s] [ext: omni.graph.ui_nodes-1.5.10] startup
[11.871s] [ext: omni.sensors.nv.common-1000.0.0-isaacsim.2023.1.1] startup
[11.896s] [ext: omni.sensors.nv.materials-1000.0.0-isaacsim.2023.1.1] startup
[11.899s] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] startup
[11.900s] [ext: omni.kit.window.status_bar-0.1.6] startup
[11.909s] [ext: omni.physx.bundle-105.1.12-5.1] startup
[11.909s] [ext: omni.graph.bundle.action-2.0.4] startup
[11.909s] [ext: omni.isaac.range_sensor-2.0.2] startup
[11.991s] [ext: omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1] startup
[11.998s] [ext: omni.sensors.nv.radar-1000.0.0-isaacsim.2023.1.1] startup
[12.003s] [ext: omni.kit.window.title-1.1.3] startup
[12.006s] [ext: omni.replicator.composer-1.2.17] startup
[12.062s] [ext: omni.replicator.isaac-1.11.3] startup
[12.178s] [ext: omni.kit.manipulator.camera-105.0.4] startup
[12.185s] [ext: omni.kit.viewport.menubar.camera-105.1.9] startup
[12.195s] [ext: omni.isaac.sensor-9.11.1] startup
[12.306s] [ext: omni.kit.viewport.menubar.render-105.1.1] startup
[12.322s] [ext: omni.kit.viewport.menubar.settings-105.0.9] startup
[12.345s] [ext: omni.replicator.replicator_yaml-2.0.4] startup
[12.374s] [ext: omni.rtx.settings.core-0.5.13] startup
[12.383s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[12.387s] [ext: omni.isaac.quadruped-1.4.1] startup
[12.407s] [ext: semantics.schema.property-1.0.2] startup
[12.412s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[12.412s] [ext: omni.isaac.scene_blox-0.1.0] startup
[12.419s] [ext: omni.importer.urdf-1.6.1] startup
[12.477s] [ext: omni.importer.mjcf-1.1.0] startup
[12.489s] [ext: omni.kit.window.stats-0.1.4] startup
[12.491s] [ext: omni.isaac.sim.python-2023.1.1] startup
[12.493s] Simulation App Starting
2024-02-03 01:05:12 [12,511ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2024-02-03 01:05:12 [12,511ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2024-02-03 01:05:12 [12,511ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2024-02-03 01:05:12 [12,511ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2024-02-03 01:05:12 [12,511ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2024-02-03 01:05:12 [12,512ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2024-02-03 01:05:14 [14,397ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-02-03 01:05:14 [14,397ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[16.035s] app ready
2024-02-03 01:05:17 [16,709ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-02-03 01:05:17 [16,709ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[17.293s] RTX ready
[17.726s] Simulation App Startup Complete
[INFO]: Parsing configuration from: <class 'omni.isaac.orbit_tasks.manipulation.reach.config.franka.env_cfg.FrankaReachEnvCfg'>
2024-02-03 01:07:47 [166,924ms] [Error] [__main__] 'FrankaReachEnvCfg' object has no attribute 'control'
2024-02-03 01:07:47 [166,925ms] [Error] [__main__] Traceback (most recent call last):
  File "/home/ali/repos/orbit/source/standalone/workflows/robomimic/collect_demonstrations.py", line 173, in <module>
    main()
  File "/home/ali/repos/orbit/source/standalone/workflows/robomimic/collect_demonstrations.py", line 74, in main
    env_cfg.control.control_type = "inverse_kinematics"
AttributeError: 'FrankaReachEnvCfg' object has no attribute 'control'

[167.251s] Simulation App Shutting Down
2024-02-03 01:07:47 [167,255ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/ali/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-02-03 01:07:47 [167,307ms] [Warning] [omni.core.ITypeFactory] Module /home/ali/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.

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Mayankm96 commented 6 months ago

Thank you for bringing this up. Seems like the workflow script was not updated with the latest refactoring. We are working now on fixing this.

Mayankm96 commented 4 months ago

This should be fixed now.