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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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[Question] Running manipulation Manager Based RL environment #871

Closed Brayden-Zhang closed 1 month ago

Brayden-Zhang commented 1 month ago

Question

As an extension to the tutorial, I was trying to run the same thing except for manipulation tasks such as Cabinet and Reach. However, I am running into this error... after replacing with the desired EnvCfg. Replacing the EnvCfg works for classic environments, but not for any manipulation ones. What needs to be changed for the scene / prim path to get this to work?


 File "/local-scratch/IsaacLab/source/standalone/tutorials/03_envs/run_lift_cube_franka_rl_env.py", line 42, in main
    env = ManagerBasedRLEnv(cfg=env_cfg)
  File "/local-scratch/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py", line 75, in __init__
    super().__init__(cfg=cfg)
  File "/local-scratch/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py", line 109, in __init__
    self.scene = InteractiveScene(self.cfg.scene)
  File "/local-scratch/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py", line 145, in __init__
    self._add_entities_from_cfg()
  File "/local-scratch/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py", line 444, in _add_entities_from_cfg
    asset_cfg.prim_path = asset_cfg.prim_path.format(ENV_REGEX_NS=self.env_regex_ns)
AttributeError: '_MISSING_TYPE' object has no attribute 'prim_path'
Mayankm96 commented 1 month ago

Some of your attributes inside the InteractiveScene class are missing the prim_path to be filled up.

https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py#L46-L48