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Fixes the joint_parameter_lookup type in RemotizedPDActuatorCfg to support list format #1626

Merged
merged 2 commits into from
Jan 8, 2025
Merged

Fixes the joint_parameter_lookup type in RemotizedPDActuatorCfg to support list format #1626

merged 2 commits into from
Jan 8, 2025

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fan-ziqi
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@fan-ziqi fan-ziqi commented Jan 4, 2025

Description

Bug description: When I run python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless

(isaaclab) ubuntu@ubuntu-4090:~/workspaces/IsaacLab$ python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless
[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspaces/IsaacLab/source/apps/isaaclab.python.headless.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json'
[Info] [carb] Logging to file: /home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20250104_162107.log
2025-01-04 08:21:07 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.

|---------------------------------------------------------------------------------------------|
| Driver Version: 550.100       | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
|     |                                  |        |     |            | 2684      | 16760a40.. |
|     |                                  |        |     |            | 1         |            |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-126-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Core(TM) i9-14900KF | Cores: 24 | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64106 | Free Memory: 39407
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2046
|---------------------------------------------------------------------------------------------|
[INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.flat_env_cfg:SpotFlatEnvCfg
[INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.agents.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg
Traceback (most recent call last):
  File "/home/ubuntu/workspaces/IsaacLab/source/standalone/workflows/rsl_rl/train.py", line 151, in <module>
    main()
  File "/home/ubuntu/workspaces/IsaacLab/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 "/home/ubuntu/workspaces/IsaacLab/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/hydra/core/config_store.py", line 85, in store
    cfg = OmegaConf.structured(node)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 125, in structured
    return OmegaConf.create(obj, parent, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 178, in create
    return OmegaConf._create_impl(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 861, in _create_impl
    return DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 899, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/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 "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1045, in _node_wrap
    node = AnyNode(value=value, key=key, parent=parent)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 135, in __init__
    super().__init__(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 29, in __init__
    self._set_value(value)  # lgtm [py/init-calls-subclass]
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 46, in _set_value
    self._val = self.validate_and_convert(value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 76, in validate_and_convert
    return self._validate_and_convert_impl(value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 154, in _validate_and_convert_impl
    raise UnsupportedValueType(
omegaconf.errors.UnsupportedValueType: Value 'Tensor' is not a supported primitive type
    full_key: env.scene.robot.actuators.spot_knee.joint_parameter_lookup
    object_type=dict

Type of change

  • Bug fix (non-breaking change which fixes an issue)
  • This change requires a documentation update

Checklist

  • I have run the pre-commit checks with ./isaaclab.sh --format
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • I have updated the changelog and the corresponding version in the extension's config/extension.toml file
  • I have added my name to the CONTRIBUTORS.md or my name already exists there

@zoctipus
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zoctipus commented Jan 7, 2025

I like it!

@kellyguo11 kellyguo11 changed the title Fixed the joint_parameter_lookup type in RemotizedPDActuatorCfg to support list format Fixes the joint_parameter_lookup type in RemotizedPDActuatorCfg to support list format Jan 8, 2025
@kellyguo11
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Thanks for the fix!

@kellyguo11 kellyguo11 merged commit 628e591 into isaac-sim:main Jan 8, 2025
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@kellyguo11 kellyguo11 mentioned this pull request Jan 8, 2025
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@fan-ziqi
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fan-ziqi commented Jan 8, 2025

Ops, I forgot to modify the tensor in the document

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@fan-ziqi @zoctipus @kellyguo11