Franka robot stacking cubes task

[kerenR1]

Hi,

I want to create a simple simulation of the Franka robot stacking cubes task, and record her arm position for a later use. I've started by trying to implement the stack cube task for the Franka robot in a manager based enviroment, like in the example from the toturial for creating a manager RL enviroment:
https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/create_manager_rl_env.html

Currently I am facing the problem of defining the camera "AttributeError: 'Camera' object has no attribute '_is_outdated'", and how to use policy when it is Franka env and not cartpole.

Is there any document/tutorial on how to replace a robot in the simulation (for example from cartpole to franka)? Or from one task to another? I would really appreciate your help!

This is the code I am working on:

import argparse
from omni.isaac.lab.app import AppLauncher

add argparse arguments

parser = argparse.ArgumentParser(description="franka manager based.")
parser.add_argument("--robot", type=str, default="franka_panda", help="Name of the robot.")
parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to spawn.")

append AppLauncher cli args

AppLauncher.add_app_launcher_args(parser)

parse the arguments

args_cli = parser.parse_args()

launch omniverse app

app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app

"""Rest everything follows."""

import torch

import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.assets import AssetBaseCfg
#from omni.isaac.lab.controllers import DifferentialIKController, DifferentialIKControllerCfg
#from omni.isaac.lab.managers import SceneEntityCfg
#from omni.isaac.lab.markers import VisualizationMarkers
#from omni.isaac.lab.markers.config import FRAME_MARKER_CFG
from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg
from omni.isaac.lab.utils import configclass
from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
#from omni.isaac.lab.utils.math import subtract_frame_transforms

Pre-defined configs

from omni.isaac.lab_assets import FRANKA_PANDA_HIGH_PD_CFG # isort:skip
from omni.isaac.lab.envs import ManagerBasedRLEnv
from omni.isaac.lab_tasks.manager_based.manipulation.stack.config.franka.stack_joint_pos_env_cfg import FrankaCubeStackEnvCfg

@configclass
class TableTopSceneCfg(InteractiveSceneCfg):

# ground plane
ground = AssetBaseCfg(
    prim_path="/World/defaultGroundPlane",
    spawn=sim_utils.GroundPlaneCfg(),
    init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)),
)

# lights
dome_light = AssetBaseCfg(
    prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
)

# mount
table = AssetBaseCfg(
    prim_path="{ENV_REGEX_NS}/Table",
    spawn=sim_utils.UsdFileCfg(
        usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/Stand/stand_instanceable.usd", scale=(2.0, 2.0, 2.0)
    ),
)

# articulation
if args_cli.robot == "franka_panda":
    robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
else:
    raise ValueError(f"Robot {args_cli.robot} is not supported. Valid: franka_panda")

def main():
"""Main function."""
# create environment configuration
env_cfg = FrankaCubeStackEnvCfg()
env_cfg.scene.num_envs = args_cli.num_envs
# setup RL environment
env = ManagerBasedRLEnv(cfg=env_cfg)

# simulate physics
count = 0
while simulation_app.is_running():
    with torch.inference_mode():
        # reset
        if count % 300 == 0:
            count = 0
            env.reset()
            print("-" * 80)
            print("[INFO]: Resetting environment...")
        # sample random actions
        joint_efforts = torch.randn_like(env.action_manager.action)
        # step the environment
        obs, rew, terminated, truncated, info = env.step(joint_efforts)
        # print current orientation of pole
        print("[Env 0]: Pole joint: ", obs["policy"][0][1].item())
        # update counter
        count += 1

# close the environment
env.close()

if name == "main":
# run the main function
main()
# close sim app
simulation_app.close()

Thank you!

[kellyguo11]

Hi there, here's an example for modifying the robot in an existing environment with the direct workflow - https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/modify_direct_rl_env.html. The concept should also be similar with the manager-based workflow, which shouldn't require the additional modifications on the actions/observations spaces and joint gears in the tutorial. The "AttributeError: 'Camera' object has no attribute '_is_outdated'" error is often because the Camera was not initialized. Are you running with --enable_cameras flag? We also have a franka stacking environment that you can use for reference - https://github.com/isaac-sim/IsaacLab/tree/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka.

[kerenR1]

Thank you, I will review this tutorial and try to modify it.

Can you explain how to run with the --enable camera flag? I am running the examples from the tutorial in Visual studio by pressing play on the code.

And if I am changing a task from one to another, how do I know what attributes does the new one need to define?

[kerenR1]

Hi, I have tried to run the example of franka stacking enviroment by using the command: " python .\source\standalone\tutorials\05_controllers\keren_test.py --num_envs 128 --enable_cameras" and got this massage:

the error is ModuleNotFoundError: No module named 'carb'

[RandomOakForest]

Thank you for posting this. The way you are running the example is correct, but you are running into a python environment issue with your setup or your import statement is misplaced. Could you share the keren_test.py script?

[kerenR1]

Hi, I think there is a problem with the Isaac-Stack-Cube-Franka-v0 enviroment. Iv'e modified the original enviroment and I was able to run the task as an environment, but when I wanted to train franka with sb3, I couldn’t run the script. Attaching it here, there aren’t many changes from the example environment of franka stacking cubes (I couldn’t run the original environment either, attached after the code):

import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.actuators import ImplicitActuatorCfg
from omni.isaac.lab.assets import ArticulationCfg
from omni.isaac.lab.assets import AssetBaseCfg#, ArticulationCfg
from omni.isaac.lab.assets import RigidObjectCfg
from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
from omni.isaac.lab.envs import mdp

from omni.isaac.lab.scene import InteractiveSceneCfg
from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup
from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm
from omni.isaac.lab.managers import RewardTermCfg as RewTerm
from omni.isaac.lab.managers import SceneEntityCfg
from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
from omni.isaac.lab.managers import EventTermCfg as EventTerm
from omni.isaac.lab.managers import SceneEntityCfg
from omni.isaac.lab.sensors import CameraCfg, FrameTransformerCfg
from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
from omni.isaac.lab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
from omni.isaac.lab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
from omni.isaac.lab.utils import configclass
from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR

from omni.isaac.lab_tasks.manager_based.manipulation.stack import mdp
from omni.isaac.lab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events
from omni.isaac.lab_tasks.manager_based.manipulation.stack.stack_env_cfg import StackEnvCfg
import torch
from omni.isaac.lab.envs import ManagerBasedRLEnv

Pre-defined configs

from omni.isaac.lab.markers.config import FRAME_MARKER_CFG # isort: skip
from omni.isaac.lab_assets.franka import FRANKA_PANDA_CFG # isort: skip

@configclass
class FrankaCubeStackSceneCfg(InteractiveSceneCfg):
"""Configuration for a Wheeled Qudruped robot scene."""

# ground plane
ground = AssetBaseCfg(
    prim_path="/World/ground",
    spawn=sim_utils.GroundPlaneCfg(size=(100.0, 100.0)),
)

# quadruped robot
robot: ArticulationCfg = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")

# lights
dome_light = AssetBaseCfg(
    prim_path="/World/DomeLight",
    spawn=sim_utils.DomeLightCfg(color=(0.9, 0.9, 0.9), intensity=500.0),
)
distant_light = AssetBaseCfg(
    prim_path="/World/DistantLight",
    spawn=sim_utils.DistantLightCfg(color=(0.9, 0.9, 0.9), intensity=2500.0),
    init_state=AssetBaseCfg.InitialStateCfg(rot=(0.738, 0.477, 0.477, 0.0)),
)

@configclass
class EventCfg:
"""Configuration for events."""

init_franka_arm_pose = EventTerm(
    func=franka_stack_events.set_default_joint_pose,
    mode="startup",
    params={
        "default_pose": [0.0444, -0.1894, -0.1107, -2.5148, 0.0044, 2.3775, 0.6952, 0.0400, 0.0400],
    },
)

randomize_franka_joint_state = EventTerm(
    func=franka_stack_events.randomize_joint_by_gaussian_offset,
    mode="reset",
    params={
        "mean": 0.0,
        "std": 0.02,
        "asset_cfg": SceneEntityCfg("robot"),
    },
)

randomize_cube_positions = EventTerm(
    func=franka_stack_events.randomize_object_pose,
    mode="reset",
    params={
        "pose_range": {"x": (0.4, 0.6), "y": (-0.10, 0.10), "z": (0.0203, 0.0203), "yaw": (-1.0, 1, 0)},
        "min_separation": 0.1,
        "asset_cfgs": [SceneEntityCfg("cube_1"), SceneEntityCfg("cube_2"), SceneEntityCfg("cube_3")],
    },
)

@configclass
class ObservationsCfg:
"""Observation specifications for the MDP."""

####refer
pass

@configclass
class ActionsCfg:
"""Action specifications for the environment."""

"""Reward terms for the MDP."""

####refer
pass

@configclass
class RewardsCfg:
"""Reward terms for the MDP."""

####refer
pass

@configclass
class CurriculumCfg:
"""Configuration for the curriculum."""

pass

@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""

####refer
pass

@configclass
class FrankaCubeStackEnvCfg(StackEnvCfg):
# Scene settings
#scene: FrankaCubeStackSceneCfg = FrankaCubeStackSceneCfg(num_envs=100, env_spacing=4.0)
# Basic settings
#observations: ObservationsCfg = ObservationsCfg()
#actions: ActionsCfg = ActionsCfg()
#events: EventCfg = EventCfg()
# MDP settings
#curriculum: CurriculumCfg = CurriculumCfg()
#rewards: RewardsCfg = RewardsCfg()
#terminations: TerminationsCfg = TerminationsCfg()
# No command generator
#commands: CommandsCfg = CommandsCfg()

def __post_init__(self):
    # post init of parent
    super().__post_init__()

    # Set events
    ######################self.events = EventCfg()

    # Set Franka as robot
    self.scene.robot = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")

    # Set actions for the specific robot type (franka)
    self.actions.arm_action = mdp.JointPositionActionCfg(
        asset_name="robot", joint_names=["panda_joint.*"], scale=0.5, use_default_offset=True
    )
    self.actions.gripper_action = mdp.BinaryJointPositionActionCfg(
        asset_name="robot",
        joint_names=["panda_finger.*"],
        open_command_expr={"panda_finger_.*": 0.04},
        close_command_expr={"panda_finger_.*": 0.0},
    )
    # Set the body name for the end effector
    self.commands.object_pose.body_name = "panda_hand"

    # Rigid body properties of each cube
    cube_properties = RigidBodyPropertiesCfg(
        solver_position_iteration_count=16,
        solver_velocity_iteration_count=1,
        max_angular_velocity=1000.0,
        max_linear_velocity=1000.0,
        max_depenetration_velocity=5.0,
        disable_gravity=False,
    )

    # Set each stacking cube deterministically
    self.scene.cube_1 = RigidObjectCfg(
        prim_path="{ENV_REGEX_NS}/Cube_1",
        init_state=RigidObjectCfg.InitialStateCfg(pos=[0.4, 0.0, 0.0203], rot=[1, 0, 0, 0]),
        spawn=UsdFileCfg(
            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/blue_block.usd",
            scale=(1.0, 1.0, 1.0),
            rigid_props=cube_properties,
        ),
    )
    self.scene.cube_2 = RigidObjectCfg(
        prim_path="{ENV_REGEX_NS}/Cube_2",
        init_state=RigidObjectCfg.InitialStateCfg(pos=[0.55, 0.05, 0.0203], rot=[1, 0, 0, 0]),
        spawn=UsdFileCfg(
            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/red_block.usd",
            scale=(1.0, 1.0, 1.0),
            rigid_props=cube_properties,
        ),
    )
    self.scene.cube_3 = RigidObjectCfg(
        prim_path="{ENV_REGEX_NS}/Cube_3",
        init_state=RigidObjectCfg.InitialStateCfg(pos=[0.60, -0.1, 0.0203], rot=[1, 0, 0, 0]),
        spawn=UsdFileCfg(
            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/green_block.usd",
            scale=(1.0, 1.0, 1.0),
            rigid_props=cube_properties,
        ),
    )

    # Set wrist camera
    self.scene.wrist_cam = CameraCfg(
        prim_path="{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam",
        update_period=0.0333,
        height=84,
        width=84,
        data_types=["rgb", "distance_to_image_plane"],
        spawn=sim_utils.PinholeCameraCfg(
            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
        ),
        offset=CameraCfg.OffsetCfg(pos=(0.025, 0.0, 0.0), rot=(0.707, 0.0, 0.0, 0.707), convention="ros"),
    )

    # Set table view camera
    self.scene.table_cam = CameraCfg(
        prim_path="{ENV_REGEX_NS}/table_cam",
        update_period=0.0333,
        height=84,
        width=84,
        data_types=["rgb", "distance_to_image_plane"],
        spawn=sim_utils.PinholeCameraCfg(
            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
        ),
        offset=CameraCfg.OffsetCfg(pos=(1.0, 0.0, 0.33), rot=(-0.3799, 0.5963, 0.5963, -0.3799), convention="ros"),
    )

    # Listens to the required transforms
    marker_cfg = FRAME_MARKER_CFG.copy()
    marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
    marker_cfg.prim_path = "/Visuals/FrameTransformer"
    self.scene.ee_frame = FrameTransformerCfg(
        prim_path="{ENV_REGEX_NS}/Robot/panda_link0",
        debug_vis=False,
        visualizer_cfg=marker_cfg,
        target_frames=[
            FrameTransformerCfg.FrameCfg(
                prim_path="{ENV_REGEX_NS}/Robot/panda_hand",
                name="end_effector",
                offset=OffsetCfg(
                    pos=[0.0, 0.0, 0.1034],
                ),
            ),
            FrameTransformerCfg.FrameCfg(
                prim_path="{ENV_REGEX_NS}/Robot/panda_rightfinger",
                name="tool_rightfinger",
                offset=OffsetCfg(
                    pos=(0.0, 0.0, 0.046),
                ),
            ),
            FrameTransformerCfg.FrameCfg(
                prim_path="{ENV_REGEX_NS}/Robot/panda_leftfinger",
                name="tool_leftfinger",
                offset=OffsetCfg(
                    pos=(0.0, 0.0, 0.046),
                ),
            ),
        ],
    )

@configclass
class FrankaCubeLiftEnvCfg_PLAY(FrankaCubeStackEnvCfg):
def post_init(self):
# post init of parent
super().post_init()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# disable randomization for play
self.observations.policy.enable_corruption = False

got these warnings:
C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\h5py_init_.py:36: UserWarning: h5py is running against HDF5 1.14.4 when it was built against 1.14.2, this may cause problems
_warn(("h5py is running against HDF5 {0} when it was built against {1}, "
[INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.manipulation.Franka_stacking_cubes_keren.franka_cubes_keren_env_cfg.FrankaCubeStackEnvCfg'>
[INFO]: Parsing configuration from: C:\IsaacLab\IsaacLab_git\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\manager_based\manipulation\Franka_stacking_cubes_keren\agents\sb3_ppo_cfg.yaml
Error executing job with overrides: []
Traceback (most recent call last):
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\gymnasium\envs\registration.py", line 740, in make
env = env_creator(**env_spec_kwargs)
File "C:\IsaacLab\IsaacLab_git\source\extensions\omni.isaac.lab\omni\isaac\lab\envs\manager_based_rl_env.py", line 76, in init
super().init(cfg=cfg)
File "C:\IsaacLab\IsaacLab_git\source\extensions\omni.isaac.lab\omni\isaac\lab\envs\manager_based_env.py", line 77, in init
cfg.validate()
File "C:\IsaacLab\IsaacLab_git\source\extensions\omni.isaac.lab\omni\isaac\lab\utils\configclass.py", line 287, in _validate
raise TypeError(
TypeError: Missing values detected in object FrankaCubeStackEnvCfg for the following fields:

• scene.object

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "C:\IsaacLab\IsaacLab_git\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 "C:\IsaacLab\IsaacLab_git\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 "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\gymnasium\envs\registration.py", line 752, in make
raise type(e)(
TypeError: Missing values detected in object FrankaCubeStackEnvCfg for the following fields:

• scene.object
  was raised from the environment creator for Franka-stack-cubes-keren-v0 with kwargs ({'env_cfg_entry_point': <class 'omni.isaac.lab_tasks.manager_based.manipulation.Franka_stacking_cubes_keren.franka_cubes_keren_env_cfg.FrankaCubeStackEnvCfg'>, 'rl_games_cfg_entry_point': 'omni.isaac.lab_tasks.manager_based.manipulation.Franka_stacking_cubes_keren.agents:rl_games_ppo_cfg.yaml', 'rsl_rl_cfg_entry_point': 'omni.isaac.lab_tasks.manager_based.manipulation.Franka_stacking_cubes_keren.agents.rsl_rl_ppo_cfg:WheeledQuadrupedPPORunnerCfg', 'skrl_cfg_entry_point': 'omni.isaac.lab_tasks.manager_based.manipulation.Franka_stacking_cubes_keren.agents:skrl_ppo_cfg.yaml', 'sb3_cfg_entry_point': 'omni.isaac.lab_tasks.manager_based.manipulation.Franka_stacking_cubes_keren.agents:sb3_ppo_cfg.yaml', 'cfg': FrankaCubeStackEnvCfg(viewer=ViewerCfg(eye=(7.5, 7.5, 7.5), lookat=(0.0, 0.0, 0.0), cam_prim_path='/OmniverseKit_Persp', resolution=(1280, 720), origin_type='world', env_index=0, asset_name=None), sim=SimulationCfg(physics_prim_path='/physicsScene', device='cuda:0', dt=0.01, render_interval=5, gravity=(0.0, 0.0, -9.81), enable_scene_query_support=False, use_fabric=True, disable_contact_processing=False, physx=PhysxCfg(solver_type=1, min_position_iteration_count=1, max_position_iteration_count=255, min_velocity_iteration_count=0, max_velocity_iteration_count=255, enable_ccd=False, enable_stabilization=True, enable_enhanced_determinism=False, bounce_threshold_velocity=0.01, friction_offset_threshold=0.04, friction_correlation_distance=0.00625, gpu_max_rigid_contact_count=8388608, gpu_max_rigid_patch_count=163840, gpu_found_lost_pairs_capacity=2097152, gpu_found_lost_aggregate_pairs_capacity=4194304, gpu_total_aggregate_pairs_capacity=16384, gpu_collision_stack_size=67108864, gpu_heap_capacity=67108864, gpu_temp_buffer_capacity=16777216, gpu_max_num_partitions=8, gpu_max_soft_body_contacts=1048576, gpu_max_particle_contacts=1048576), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x00000259AF86C0D0>, static_friction=0.5, dynamic_friction=0.5, restitution=0.0, improve_patch_friction=True, friction_combine_mode='average', restitution_combine_mode='average', compliant_contact_stiffness=0.0, compliant_contact_damping=0.0), render=RenderCfg(enable_translucency=False, enable_reflections=False, enable_global_illumination=False, antialiasing_mode='DLSS', enable_dlssg=False, dlss_mode=0, enable_direct_lighting=True, samples_per_pixel=1, enable_shadows=True, enable_ambient_occlusion=False)), ui_window_class_type=<class 'omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow'>, seed=42, decimation=5, scene=ObjectTableSceneCfg(num_envs=8, env_spacing=2.5, lazy_sensor_update=True, replicate_physics=False, robot=ArticulationCfg(class_type=<class 'omni.isaac.lab.assets.articulation.articulation.Articulation'>, prim_path='{ENV_REGEX_NS}/Robot', spawn=UsdFileCfg(func=<function spawn_from_usd at 0x00000259AF847B50>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, deformable_props=None, rigid_props=RigidBodyPropertiesCfg(rigid_body_enabled=None, kinematic_enabled=None, disable_gravity=False, linear_damping=None, angular_damping=None, max_linear_velocity=None, max_angular_velocity=None, max_depenetration_velocity=5.0, max_contact_impulse=None, enable_gyroscopic_forces=None, retain_accelerations=None, solver_position_iteration_count=None, solver_velocity_iteration_count=None, sleep_threshold=None, stabilization_threshold=None), collision_props=None, activate_contact_sensors=False, scale=None, articulation_props=ArticulationRootPropertiesCfg(articulation_enabled=None, enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0, sleep_threshold=None, stabilization_threshold=None, fix_root_link=None), fixed_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=None, usd_path='http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/IsaacLab/Robots/FrankaEmika/panda_instanceable.usd', variants=None), init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), lin_vel=(0.0, 0.0, 0.0), ang_vel=(0.0, 0.0, 0.0), joint_pos={'panda_joint1': 0.0, 'panda_joint2': -0.569, 'panda_joint3': 0.0, 'panda_joint4': -2.81, 'panda_joint5': 0.0, 'panda_joint6': 3.037, 'panda_joint7': 0.741, 'panda_finger_joint.': 0.04}, joint_vel={'.': 0.0}), collision_group=0, debug_vis=False, soft_joint_pos_limit_factor=1.0, actuators={'panda_shoulder': ImplicitActuatorCfg(class_type=<class 'omni.isaac.lab.actuators.actuator_pd.ImplicitActuator'>, joint_names_expr=['panda_joint[1-4]'], effort_limit=87.0, velocity_limit=2.175, stiffness=80.0, damping=4.0, armature=None, friction=None), 'panda_forearm': ImplicitActuatorCfg(class_type=<class 'omni.isaac.lab.actuators.actuator_pd.ImplicitActuator'>, joint_names_expr=['panda_joint[5-7]'], effort_limit=12.0, velocity_limit=2.61, stiffness=80.0, damping=4.0, armature=None, friction=None), 'panda_hand': ImplicitActuatorCfg(class_type=<class 'omni.isaac.lab.actuators.actuator_pd.ImplicitActuator'>, joint_names_expr=['panda_finger_joint.'], effort_limit=200.0, velocity_limit=0.2, stiffness=2000.0, damping=100.0, armature=None, friction=None)}), ee_frame=FrameTransformerCfg(class_type=<class 'omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer'>, prim_path='{ENV_REGEX_NS}/Robot/panda_link0', update_period=0.0, history_length=0, debug_vis=False, source_frame_offset=OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), target_frames=[FrameTransformerCfg.FrameCfg(prim_path='{ENV_REGEX_NS}/Robot/panda_hand', name='end_effector', offset=OffsetCfg(pos=[0.0, 0.0, 0.1034], rot=(1.0, 0.0, 0.0, 0.0))), FrameTransformerCfg.FrameCfg(prim_path='{ENV_REGEX_NS}/Robot/panda_rightfinger', name='tool_rightfinger', offset=OffsetCfg(pos=(0.0, 0.0, 0.046), rot=(1.0, 0.0, 0.0, 0.0))), FrameTransformerCfg.FrameCfg(prim_path='{ENV_REGEX_NS}/Robot/panda_leftfinger', name='tool_leftfinger', offset=OffsetCfg(pos=(0.0, 0.0, 0.046), rot=(1.0, 0.0, 0.0, 0.0)))], visualizer_cfg=VisualizationMarkersCfg(prim_path='/Visuals/FrameTransformer', markers={'frame': UsdFileCfg(func=<function spawn_from_usd at 0x00000259AF847B50>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, deformable_props=None, rigid_props=None, collision_props=None, activate_contact_sensors=False, scale=(0.1, 0.1, 0.1), articulation_props=None, fixed_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=None, usd_path='http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Props/UIElements/frame_prim.usd', variants=None)})), object=<dataclasses._MISSING_TYPE object at 0x00000259B2B903D0>, wrist_cam=CameraCfg(class_type=<class 'omni.isaac.lab.sensors.camera.camera.Camera'>, prim_path='{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam', update_period=0.0333, history_length=0, debug_vis=False, offset=CameraCfg.OffsetCfg(pos=(0.025, 0.0, 0.0), rot=(0.707, 0.0, 0.0, 0.707), convention='ros'), spawn=PinholeCameraCfg(func=<function spawn_camera at 0x00000259B1764D30>, visible=True, semantic_tags=None, copy_from_source=True, projection_type='pinhole', clipping_range=(0.1, 100000.0), focal_length=24.0, focus_distance=400.0, f_stop=0.0, horizontal_aperture=20.955, vertical_aperture=None, horizontal_aperture_offset=0.0, vertical_aperture_offset=0.0, lock_camera=True), depth_clipping_behavior='none', data_types=['rgb', 'distance_to_image_plane'], width=84, height=84, semantic_filter=':', colorize_semantic_segmentation=True, colorize_instance_id_segmentation=True, colorize_instance_segmentation=True), table_cam=CameraCfg(class_type=<class 'omni.isaac.lab.sensors.camera.camera.Camera'>, prim_path='{ENV_REGEX_NS}/table_cam', update_period=0.0333, history_length=0, debug_vis=False, offset=CameraCfg.OffsetCfg(pos=(1.0, 0.0, 0.33), rot=(-0.3799, 0.5963, 0.5963, -0.3799), convention='ros'), spawn=PinholeCameraCfg(func=<function spawn_camera at 0x00000259B1764D30>, visible=True, semantic_tags=None, copy_from_source=True, projection_type='pinhole', clipping_range=(0.1, 100000.0), focal_length=24.0, focus_distance=400.0, f_stop=0.0, horizontal_aperture=20.955, vertical_aperture=None, horizontal_aperture_offset=0.0, vertical_aperture_offset=0.0, lock_camera=True), depth_clipping_behavior='none', data_types=['rgb', 'distance_to_image_plane'], width=84, height=84, semantic_filter=':', colorize_semantic_segmentation=True, colorize_instance_id_segmentation=True, colorize_instance_segmentation=True), table=AssetBaseCfg(class_type=None, prim_path='{ENV_REGEX_NS}/Table', spawn=UsdFileCfg(func=<function spawn_from_usd at 0x00000259AF847B50>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, deformable_props=None, rigid_props=None, collision_props=None, activate_contact_sensors=False, scale=None, articulation_props=None, fixed_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=None, usd_path='http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd', variants=None), init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]), collision_group=0, debug_vis=False), plane=AssetBaseCfg(class_type=None, prim_path='/World/GroundPlane', spawn=GroundPlaneCfg(func=<function spawn_ground_plane at 0x00000259AF847D90>, visible=True, semantic_tags=None, copy_from_source=True, usd_path='http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Environments/Grid/default_environment.usd', color=(0.0, 0.0, 0.0), size=(100.0, 100.0), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x00000259AF86C0D0>, static_friction=0.5, dynamic_friction=0.5, restitution=0.0, improve_patch_friction=True, friction_combine_mode='average', restitution_combine_mode='average', compliant_contact_stiffness=0.0, compliant_contact_damping=0.0)), init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05], rot=(1.0, 0.0, 0.0, 0.0)), collision_group=0, debug_vis=False), light=AssetBaseCfg(class_type=None, prim_path='/World/light', spawn=DomeLightCfg(func=<function spawn_light at 0x00000259AF8991B0>, visible=True, semantic_tags=None, copy_from_source=True, prim_type='DomeLight', color=(0.75, 0.75, 0.75), enable_color_temperature=False, color_temperature=6500.0, normalize=False, exposure=0.0, intensity=3000.0, texture_file=None, texture_format='automatic', visible_in_primary_ray=True), init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), collision_group=0, debug_vis=False)), recorders=RecorderManagerBaseCfg(dataset_file_handler_class_type=<class 'omni.isaac.lab.utils.datasets.hdf5_dataset_file_handler.HDF5DatasetFileHandler'>, dataset_export_dir_path='/tmp/isaaclab/logs', dataset_filename='dataset', dataset_export_mode=<DatasetExportMode.EXPORT_ALL: 0>), observations=ObservationsCfg(policy=ObservationsCfg.PolicyCfg(concatenate_terms=False, enable_corruption=False, history_length=None, flatten_history_dim=True, actions=ObservationTermCfg(func=<function last_action at 0x00000259B212E710>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), joint_pos=ObservationTermCfg(func=<function joint_pos_rel at 0x00000259B212E170>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), joint_vel=ObservationTermCfg(func=<function joint_vel_rel at 0x00000259B212E320>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), object=ObservationTermCfg(func=<function object_obs at 0x00000259B235CAF0>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), cube_positions=ObservationTermCfg(func=<function cube_positions_in_world_frame at 0x00000259B235C8B0>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), cube_orientations=ObservationTermCfg(func=<function cube_orientations_in_world_frame at 0x00000259B235C9D0>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), eef_pos=ObservationTermCfg(func=<function ee_frame_pos at 0x00000259B235CC10>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), eef_quat=ObservationTermCfg(func=<function ee_frame_quat at 0x00000259B235CCA0>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), gripper_pos=ObservationTermCfg(func=<function gripper_pos at 0x00000259B235CD30>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True)), rgb_camera=ObservationsCfg.RGBCameraPolicyCfg(concatenate_terms=False, enable_corruption=False, history_length=None, flatten_history_dim=True, table_cam=ObservationTermCfg(func=<function image at 0x00000259B212E680>, params={'sensor_cfg': SceneEntityCfg(name='table_cam', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'data_type': 'rgb', 'normalize': False}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), wrist_cam=ObservationTermCfg(func=<function image at 0x00000259B212E680>, params={'sensor_cfg': SceneEntityCfg(name='wrist_cam', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'data_type': 'rgb', 'normalize': False}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True)), subtask_terms=ObservationsCfg.SubtaskCfg(concatenate_terms=False, enable_corruption=False, history_length=None, flatten_history_dim=True, grasp_1=ObservationTermCfg(func=<function object_grasped at 0x00000259B235CDC0>, params={'robot_cfg': SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'ee_frame_cfg': SceneEntityCfg(name='ee_frame', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'object_cfg': SceneEntityCfg(name='cube_2', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), stack_1=ObservationTermCfg(func=<function object_stacked at 0x00000259B235CE50>, params={'robot_cfg': SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'upper_object_cfg': SceneEntityCfg(name='cube_2', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'lower_object_cfg': SceneEntityCfg(name='cube_1', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), grasp_2=ObservationTermCfg(func=<function object_grasped at 0x00000259B235CDC0>, params={'robot_cfg': SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'ee_frame_cfg': SceneEntityCfg(name='ee_frame', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'object_cfg': SceneEntityCfg(name='cube_3', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True))), actions=ActionsCfg(arm_action=JointPositionActionCfg(class_type=<class 'omni.isaac.lab.envs.mdp.actions.joint_actions.JointPositionAction'>, asset_name='robot', debug_vis=False, clip=None, joint_names=['panda_joint.'], scale=0.5, offset=0.0, preserve_order=False, use_default_offset=True), gripper_action=BinaryJointPositionActionCfg(class_type=<class 'omni.isaac.lab.envs.mdp.actions.binary_joint_actions.BinaryJointPositionAction'>, asset_name='robot', debug_vis=False, clip=None, joint_names=['panda_finger.'], open_command_expr={'panda_finger_.': 0.04}, close_command_expr={'panda_finger_.*': 0.0})), events=None, rerender_on_reset=False, is_finite_horizon=False, episode_length_s=30.0, rewards=None, terminations=TerminationsCfg(time_out=TerminationTermCfg(func=<function time_out at 0x00000259B215D480>, params={}, time_out=True), cube_1_dropping=TerminationTermCfg(func=<function root_height_below_minimum at 0x00000259B215D630>, params={'minimum_height': -0.05, 'asset_cfg': SceneEntityCfg(name='cube_1', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, time_out=False), cube_2_dropping=TerminationTermCfg(func=<function root_height_below_minimum at 0x00000259B215D630>, params={'minimum_height': -0.05, 'asset_cfg': SceneEntityCfg(name='cube_2', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, time_out=False), cube_3_dropping=TerminationTermCfg(func=<function root_height_below_minimum at 0x00000259B215D630>, params={'minimum_height': -0.05, 'asset_cfg': SceneEntityCfg(name='cube_3', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, time_out=False), success=TerminationTermCfg(func=<function cubes_stacked at 0x00000259B235CEE0>, params={}, time_out=False)), curriculum=None, commands=CommandsCfg(object_pose=UniformPoseCommandCfg(class_type=<class 'omni.isaac.lab.envs.mdp.commands.pose_command.UniformPoseCommand'>, resampling_time_range=(5.0, 5.0), debug_vis=True, asset_name='robot', body_name='panda_hand', make_quat_unique=False, ranges=UniformPoseCommandCfg.Ranges(pos_x=(0.4, 0.6), pos_y=(-0.25, 0.25), pos_z=(0.25, 0.5), roll=(0.0, 0.0), pitch=(0.0, 0.0), yaw=(0.0, 0.0)), goal_pose_visualizer_cfg=VisualizationMarkersCfg(prim_path='/Visuals/Command/goal_pose', markers={'frame': UsdFileCfg(func=<function spawn_from_usd at 0x00000259AF847B50>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, deformable_props=None, rigid_props=None, collision_props=None, activate_contact_sensors=False, scale=(0.1, 0.1, 0.1), articulation_props=None, fixed_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=None, usd_path='http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Props/UIElements/frame_prim.usd', variants=None)}), current_pose_visualizer_cfg=VisualizationMarkersCfg(prim_path='/Visuals/Command/body_pose', markers={'frame': UsdFileCfg(func=<function spawn_from_usd at 0x00000259AF847B50>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, deformable_props=None, rigid_props=None, collision_props=None, activate_contact_sensors=False, scale=(0.1, 0.1, 0.1), articulation_props=None, fixed_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=None, usd_path='http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Props/UIElements/frame_prim.usd', variants=None)})))), 'render_mode': None})

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
2025-01-10 21:26:57 [108,601ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:26:57 [108,602ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2025-01-10 21:26:57 [108,685ms] [Warning] [carb] Recursive unloadAllPlugins() detected!

When I tried to train with the original Isaac-Stack-Cube-Franka-v0, I got these warnings:
C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\h5py_init_.py:36: UserWarning: h5py is running against HDF5 1.14.4 when it was built against 1.14.2, this may cause problems
_warn(("h5py is running against HDF5 {0} when it was built against {1}, "
[INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.manipulation.stack.config.franka.stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg'>
[INFO]: Parsing configuration from: C:\IsaacLab\IsaacLab_git\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\manager_based\manipulation\stack\config\franka\agents\sb3_ppo_cfg.yaml
Traceback (most recent call last):
File "C:\IsaacLab\IsaacLab_git\source\standalone\workflows\sb3\train.py", line 157, in
main()
File "C:\IsaacLab\IsaacLab_git\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\utils\hydra.py", line 79, in wrapper
env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point)
File "C:\IsaacLab\IsaacLab_git\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\utils\hydra.py", line 57, in register_task_to_hydra
ConfigStore.instance().store(name=task_name, node=cfg_dict)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\hydra\core\config_store.py", line 85, in store
cfg = OmegaConf.structured(node)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 125, in structured
return OmegaConf.create(obj, parent, flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 178, in create
return OmegaConf._create_impl(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 900, in _create_impl
format_and_raise(node=None, key=None, value=None, msg=str(e), cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 861, in _create_impl
return DictConfig(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 111, in init
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 109, in init
self._set_value(content, flags=flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 647, in _set_value
raise e
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 690, in _set_value_impl
self.setitem(k, v)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 314, in setitem
self._format_and_raise(key=key, value=value, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 308, in setitem
self.__set_impl(key=key, value=value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 111, in init
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 109, in init
self._set_value(content, flags=flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 647, in _set_value
raise e
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 690, in _set_value_impl
self.setitem(k, v)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 314, in setitem
self._format_and_raise(key=key, value=value, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 308, in setitem
self.__set_impl(key=key, value=value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 111, in init
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 109, in init
self._set_value(content, flags=flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 647, in _set_value
raise e
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 690, in _set_value_impl
self.setitem(k, v)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 314, in setitem
self._format_and_raise(key=key, value=value, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 308, in setitem
self.__set_impl(key=key, value=value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 111, in init
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 109, in init
self._set_value(content, flags=flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 647, in _set_value
raise e
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 690, in _set_value_impl
self.setitem(k, v)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 314, in setitem
self._format_and_raise(key=key, value=value, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 308, in setitem
self.__set_impl(key=key, value=value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 111, in init
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 109, in init
self._set_value(content, flags=flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 647, in _set_value
raise e
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 690, in _set_value_impl
self.setitem(k, v)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 314, in setitem
self._format_and_raise(key=key, value=value, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 308, in setitem
self.__set_impl(key=key, value=value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1017, in _node_wrap
node = ListConfig(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\listconfig.py", line 82, in init
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\listconfig.py", line 80, in init
self._set_value(value=content, flags=flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\listconfig.py", line 618, in _set_value
raise e
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\listconfig.py", line 614, in _set_value
self._set_value_impl(value, flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\listconfig.py", line 659, in _set_value_impl
self.append(item)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\listconfig.py", line 301, in append
self._format_and_raise(key=index, value=item, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\listconfig.py", line 298, in append
self._set_item_impl(index, item)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1004, in _node_wrap
node = DictConfig(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 111, in init
format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 109, in init
self._set_value(content, flags=flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 647, in _set_value
raise e
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 644, in _set_value
self._set_value_impl(value, flags)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 690, in _set_value_impl
self.setitem(k, v)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 314, in setitem
self._format_and_raise(key=key, value=value, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 819, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 308, in setitem
self.__set_impl(key=key, value=value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\dictconfig.py", line 318, in __set_impl
self._set_item_impl(key, value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 620, in _set_item_impl
self._wrap_value_and_set(key, value, target_type_hint)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 636, in _wrap_value_and_set
self._format_and_raise(key=key, value=val, cause=e)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\base.py", line 231, in _format_and_raise
format_and_raise(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 899, in format_and_raise
_raise(ex, cause)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf_utils.py", line 797, in _raise
raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\basecontainer.py", line 628, in _wrap_value_and_set
wrapped = _maybe_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1105, in _maybe_wrap
return _node_wrap(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\omegaconf.py", line 1045, in _node_wrap
node = AnyNode(value=value, key=key, parent=parent)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\nodes.py", line 135, in init
super().init(
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\nodes.py", line 29, in init
self._set_value(value) # lgtm [py/init-calls-subclass]
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\nodes.py", line 46, in _set_value
self._val = self.validate_and_convert(value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\nodes.py", line 76, in validate_and_convert
return self._validate_and_convert_impl(value)
File "C:\IsaacLab\IsaacLab_git\isaaclab\lib\site-packages\omegaconf\nodes.py", line 154, in _validate_and_convert_impl
raise UnsupportedValueType(
omegaconf.errors.UnsupportedValueType: Value 'slice' is not a supported primitive type
full_key: env.events.randomize_cube_positions.params.asset_cfgs[0].joint_ids
object_type=dict
2025-01-10 21:36:01 [22,044ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-10 21:36:01 [22,045ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2025-01-10 21:36:01 [22,183ms] [Warning] [carb] Recursive unloadAllPlugins() detected!