Closed enaitzb closed 4 months ago
Hi @enaitzb, can you share your sb3 config? I cannot reproduce with rsl_rl
Hi @Dhoeller19, these is my sb3 config
# Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L32
seed: 42
policy: 'MlpPolicy'
n_timesteps: !!float 1e5
batch_size: 32
n_steps: 512
gamma: 0.9
learning_rate: 0.0003 #
ent_coef: 0.01 #
clip_range: 0.2 #
n_epochs: 4 #
gae_lambda: 0.98 #
max_grad_norm: 0.5 #
vf_coef: 0.5 #
I have tried again and the error does not occur when the dt is 1/60. However, I have tried with:
And the error keeps popping up.
It have too these error line that looks that the scene cannot be created
2024-06-11 07:37:41 [7,271ms] [Error] [omni.physx.tensors.plugin] Failed to create simulation view: no active physics scene found
I also tried the lift task with rsl_rl and got the same error.
def __post_init__(self):
"""Post initialization."""
# general settings
self.decimation = 2
self.episode_length_s = 5.0
# simulation settings
self.sim.dt = 0.01 # 100Hz
self.sim.substeps = 20
self.sim.physx.bounce_threshold_velocity = 0.2
self.sim.physx.bounce_threshold_velocity = 0.01
self.sim.physx.gpu_found_lost_aggregate_pairs_capacity = 1024 * 1024 * 4
self.sim.physx.gpu_total_aggregate_pairs_capacity = 16 * 1024
self.sim.physx.friction_correlation_distance = 0.00625
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from omni.isaac.lab.utils import configclass
from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import (
RslRlOnPolicyRunnerCfg,
RslRlPpoActorCriticCfg,
RslRlPpoAlgorithmCfg,
)
@configclass
class LiftCubePPORunnerCfg(RslRlOnPolicyRunnerCfg):
num_steps_per_env = 24
max_iterations = 1500
save_interval = 50
experiment_name = "franka_lift"
empirical_normalization = False
policy = RslRlPpoActorCriticCfg(
init_noise_std=1.0,
actor_hidden_dims=[256, 128, 64],
critic_hidden_dims=[256, 128, 64],
activation="elu",
)
algorithm = RslRlPpoAlgorithmCfg(
value_loss_coef=1.0,
use_clipped_value_loss=True,
clip_param=0.2,
entropy_coef=0.006,
num_learning_epochs=5,
num_mini_batches=4,
learning_rate=1.0e-4,
schedule="adaptive",
gamma=0.98,
lam=0.95,
desired_kl=0.01,
max_grad_norm=1.0,
)
@enaitzb I confirm I can reproduce and I also have a fix in the pipeline already.
If you are submitting a bug report, please fill in the following details and use the tag [bug].
Describe the bug
Error when training the Reach task with the Franka robot using the sim.substeps parameter with SB3. The error only occurs when trained in headless mode.
Steps to reproduce
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System Info
Describe the characteristic of your environment:
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