error in train.py #1
Description
(genesis) ps@ps:~/genesis_legged_gym$ python legged_gym/scripts/train.py --task=anymal_c_flat
[Genesis] [12:00:47] [INFO] ╭───────────────────────────────────────────────────────╮
[Genesis] [12:00:47] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
[Genesis] [12:00:47] [INFO] ╰───────────────────────────────────────────────────────╯
[Genesis] [12:00:47] [INFO] Running on [NVIDIA GeForce RTX 4090] with backend gs.cuda. Device memory: 23.53 GB.
[Genesis] [12:00:47] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.1, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
args: Namespace(sim_device='cuda:0', pipeline='gpu', graphics_device_id=0, flex=False, physx=False, num_threads=0, subscenes=0, slices=0, task='anymal_c_flat', resume=False, experiment_name=None, run_name=None, load_run=None, checkpoint=None, headless=False, horovod=False, rl_device='cuda:0', num_envs=None, seed=None, max_iterations=None, sim_device_type='cuda', compute_device_id=0, use_gpu_pipeline=True, use_gpu=True, physics_engine='genesis')
Setting seed: 1
self.sim_params.sim: {'dt': 0.005, 'gravity': [0.0, 0.0, -9.81], 'physx': {'bounce_threshold_velocity': 0.5, 'contact_collection': 2, 'contact_offset': 0.01, 'default_buffer_size_multiplier': 5, 'max_depenetration_velocity': 1.0, 'max_gpu_contact_pairs': 8388608, 'num_position_iterations': 4, 'num_threads': 10, 'num_velocity_iterations': 0, 'rest_offset': 0.0, 'solver_type': 1}, 'substeps': 1, 'up_axis': 1}
[Genesis] [12:00:48] [INFO] Scene <9cfda00> created.
[Genesis] [12:00:48] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: , morph: <gs.morphs.URDF(file='/home/ps/genesis_legged_gym/resources/envs/plane/plane.urdf')>, material: <gs.materials.Rigid>.
[Genesis] [12:00:48] [INFO] Preprocessing geom idx 0.
Traceback (most recent call last):
File "/home/ps/genesis_legged_gym/legged_gym/scripts/train.py", line 47, in
train(args)
File "/home/ps/genesis_legged_gym/legged_gym/scripts/train.py", line 41, in train
env, env_cfg = task_registry.make_env(name=args.task, args=args)
File "/home/ps/genesis_legged_gym/legged_gym/utils/task_registry.py", line 97, in make_env
env = task_class( cfg=env_cfg,
File "/home/ps/genesis_legged_gym/legged_gym/envs/anymal_c/anymal.py", line 47, in init
super().init(cfg, sim_params, physics_engine, sim_device, headless)
File "/home/ps/genesis_legged_gym/legged_gym/envs/base/legged_robot.py", line 72, in init
super().init(self.cfg, sim_params, physics_engine, sim_device, headless)
File "/home/ps/genesis_legged_gym/legged_gym/envs/base/base_task.py", line 100, in init
self.create_sim()
File "/home/ps/genesis_legged_gym/legged_gym/envs/base/legged_robot.py", line 281, in create_sim
self.scene.add_entity(gs.morphs.URDF(file=envs_asset_path, fixed=True))
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/utils/misc.py", line 38, in wrapper
return method(self, *args, **kwargs)
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/scene.py", line 359, in add_entity
entity = self._sim._add_entity(morph, material, surface, visualize_contact)
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/simulator.py", line 134, in _add_entity
entity = self.rigid_solver.add_entity(self.n_entities, material, morph, surface, visualize_contact)
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 64, in add_entity
entity = entity_class(
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 68, in init
self._load_model()
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 81, in _load_model
self._load_URDF(self._morph, self._surface)
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 405, in _load_URDF
self._add_by_info(l_info, j_info, l_info["g_infos"], morph, surface)
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 443, in _add_by_info
link._add_geom(
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_link.py", line 173, in _add_geom
geom = RigidGeom(
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_geom.py", line 94, in init
self._preprocess()
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_geom.py", line 146, in _preprocess
sdf_val = self._compute_sd(query_points)
File "/home/ps/anaconda3/envs/genesis/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_geom.py", line 224, in _compute_sd
sd, _, _ = igl.signed_distance(query_points, self._sdf_verts, self._sdf_faces)
ValueError: too many values to unpack (expected 3)
[Genesis] [12:00:48] [INFO] 💤 Exiting Genesis and caching compiled kernels...