anymal-c policy.pt not exist

[heyshouzi]

FileNotFoundError: Policy file 'http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Samples/Orbit/Policies/ANYmal-C/policy.pt' does not exist.

I am using isaac sim version 4.2 and I have downloaded the asset to the local path.

If the policy.pt file is not available over the Internet, where does it reside in the isaac sim asset?

[fan-ziqi]

Please check #28

https://github.com/leggedrobotics/viplanner/blob/62ac8537f578a7ab71add8a970db73b1425dbb2d/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py#L39

[heyshouzi]

I found the file locally under the path you mentioned above, but there was a problem similar to #28 ` Traceback (most recent call last): File "/home/zhineng/wl/viplanner/omniverse/standalone/viplanner_demo.py", line 152, in main() File "/home/zhineng/wl/viplanner/omniverse/standalone/viplanner_demo.py", line 122, in main obs = env.step(action=paths.view(paths.shape[0], -1))[0] File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py", line 199, in step self.obs_buf = self.observation_manager.compute() File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/observation_manager.py", line 124, in compute obs_buffer[group_name] = self.compute_group(group_name) File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/observation_manager.py", line 170, in compute_group obs: torch.Tensor = term_cfg.func(self._env, **term_cfg.params) File "/home/zhineng/wl/viplanner/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py", line 93, in cam_position sensor: CameraData = env.scene.sensors[sensor_cfg.name].data File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py", line 147, in data self._update_outdated_buffers() File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py", line 275, in _update_outdated_buffers outdated_env_ids = self._is_outdated.nonzero().squeeze(-1) RuntimeError: CUDA error: device-side assert triggered CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. For debugging consider passing CUDA_LAUNCH_BLOCKING=1 Compile with TORCH_USE_CUDA_DSA to enable device-side assertions.

2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 328 2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 331 2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 334 2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 337 2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 340 `

[heyshouzi]

I found the file locally under the path you mentioned above, but there was a problem similar to #28 `Traceback (most recent call last): File "/home/zhineng/wl/viplanner/omniverse/standalone/viplanner_demo.py", line 152, in main() File "/home/zhineng/wl/viplanner/omniverse/standalone/viplanner_demo.py", line 122, in main obs = env.step(action=paths.view(paths.shape[0], -1))[0] File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py", line 199, in step self.obs_buf = self.observation_manager.compute() File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/observation_manager.py", line 124, in compute obs_buffer[group_name] = self.compute_group(group_name) File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/observation_manager.py", line 170, in compute_group obs: torch.Tensor = term_cfg.func(self._env, **term_cfg.params) File "/home/zhineng/wl/viplanner/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py", line 93, in cam_position sensor: CameraData = env.scene.sensors[sensor_cfg.name].data File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py", line 147, in data self._update_outdated_buffers() File "/home/zhineng/wl/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py", line 275, in _update_outdated_buffers outdated_env_ids = self._is_outdated.nonzero().squeeze(-1) RuntimeError: CUDA error: device-side assert triggered CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. For debugging consider passing CUDA_LAUNCH_BLOCKING=1 Compile with TORCH_USE_CUDA_DSA to enable device-side assertions.

2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 328 2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 331 2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 334 2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 337 2024-10-18 05:43:02 [326,046ms] [Error] [omni.physx.fabric.plugin] CUDA error: device-side assert triggered: ../../../extensions/runtime/source/omni.physx.fabric/plugins/DirectGpuHelper.cpp: 340 `

I don't know what happen. open isaac sim,then click the play button, anymal stays there I wait for a while, and isaac sim flashes out. I just updated isaac sim form version 2023.hotfix.1.1 to 4.2 TORCH_USE_CUDA_DSA to enable device-side assertions.`

[pascal-roth]

Hi,

thanks a lot for using our work. There has been a change in the return of the semantic camera when updating Isaac Sim. I just finished a fix and will push it together with the PR #28

[heyshouzi]

Thanks for your great work,I I should not need to manually configure anymal-c policy.pat after you finish a fix?

[pascal-roth]

No, after the merge the policy should be loaded automatically without the need to do anything from your side.

[heyshouzi]

thanks