question about dimension

[suoyike1]

Hi,there. Thank you for your great open source code! @cypypccpy But I encounter some problems.Almost all tasks can not run correctly. For example, when I run python train.py --task UR5PickAndPlace

(rlgpu) wd@wd-Lenovo-Legion-Y9000K2021H:~/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu$ python train.py --task UR5PickAndPlace
Importing module 'gym_37' (/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_37.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/wd/cjy2024.3/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
PyTorch version 1.8.1+cu111
Device count 1
/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/src/gymtorch
Using /home/wd/.cache/torch_extensions as PyTorch extensions root...
Emitting ninja build file /home/wd/.cache/torch_extensions/gymtorch/build.ninja...
Building extension module gymtorch...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
ninja: no work to do.
Loading extension module gymtorch...
Importing module 'rlgpu_37' (/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/rlgpu_37.so)
/home/wd/anaconda3/envs/rlgpu/lib/python3.7/site-packages/torch/utils/tensorboard/__init__.py:3: DeprecationWarning: distutils Version classes are deprecated. Use packaging.version instead.
  if not hasattr(tensorboard, '__version__') or LooseVersion(tensorboard.__version__) < LooseVersion('1.15'):
/home/wd/anaconda3/envs/rlgpu/lib/python3.7/site-packages/torchvision/transforms/functional_pil.py:207: DeprecationWarning: BILINEAR is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.BILINEAR instead.
  def resize(img, size, interpolation=Image.BILINEAR):
/home/wd/anaconda3/envs/rlgpu/lib/python3.7/site-packages/torchvision/transforms/functional_pil.py:280: DeprecationWarning: BICUBIC is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.BICUBIC instead.
  def perspective(img, perspective_coeffs, interpolation=Image.BICUBIC, fill=None):
Setting seed: 9653
Python
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:0
GPU Pipeline: enabled
[Error] [carb.gym.plugin] Failed to resolve collision mesh 'package://meshes_gripper/toolMount.STL'
[Error] [carb.gym.plugin] Failed to resolve collision mesh 'package://meshes_gripper/shaft.STL'
[Error] [carb.gym.plugin] Failed to resolve visual mesh 'package://meshes_gripper/toolMount.STL'
[Error] [carb.gym.plugin] Failed to resolve visual mesh 'package://meshes_gripper/shaft.STL'
Using VHACD cache directory '/home/wd/.isaacgym/vhacd'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/robotiq_description/meshes/collision/robotiq_85_base_link.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/robotiq_description/meshes/collision/robotiq_85_finger_link.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/robotiq_description/meshes/collision/robotiq_85_finger_tip_link.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/robotiq_description/meshes/collision/robotiq_85_inner_knuckle_link.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/robotiq_description/meshes/collision/robotiq_85_knuckle_link.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/robotiq_description/meshes/robotiq_85_coupler.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/ur5_description/meshes/ur5/collision/base.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/ur5_description/meshes/ur5/collision/forearm.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/ur5_description/meshes/ur5/collision/shoulder.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/ur5_description/meshes/ur5/collision/upperarm.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/ur5_description/meshes/ur5/collision/wrist1.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/ur5_description/meshes/ur5/collision/wrist2.stl'
Found existing convex decomposition for mesh '../assets/ur_robotics/ur5_gripper/ur5_description/meshes/ur5/collision/wrist3.stl'
num ur5 bodies:  14
num ur5 dofs:  13
Traceback (most recent call last):
  File "train.py", line 38, in <module>
    train()
  File "train.py", line 21, in train
    task, env = parse_task(args, cfg, cfg_train, sim_params)
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/utils/parse_task.py", line 67, in parse_task
    headless=args.headless)
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/tasks/ur5_pick_and_place.py", line 70, in __init__
    super().__init__(cfg=self.cfg)
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/tasks/base/base_task.py", line 80, in __init__
    self.create_sim()
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/tasks/ur5_pick_and_place.py", line 114, in create_sim
    self._create_envs(self.num_envs, self.cfg["env"]['envSpacing'], int(np.sqrt(self.num_envs)))
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/tasks/ur5_pick_and_place.py", line 179, in _create_envs
    ur5_dof_props['stiffness'][i] = ur5_dof_stiffness[i]
IndexError: index 12 is out of bounds for dimension 0 with size 12

Or run python train.py --task BaxterPickAndPlace

(rlgpu) wd@wd-Lenovo-Legion-Y9000K2021H:~/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu$ python train.py --task BaxterPickAndPlace
Importing module 'gym_37' (/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_37.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/wd/cjy2024.3/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
PyTorch version 1.8.1+cu111
Device count 1
/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/src/gymtorch
Using /home/wd/.cache/torch_extensions as PyTorch extensions root...
Emitting ninja build file /home/wd/.cache/torch_extensions/gymtorch/build.ninja...
Building extension module gymtorch...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
ninja: no work to do.
Loading extension module gymtorch...
Importing module 'rlgpu_37' (/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/rlgpu_37.so)
/home/wd/anaconda3/envs/rlgpu/lib/python3.7/site-packages/torch/utils/tensorboard/__init__.py:3: DeprecationWarning: distutils Version classes are deprecated. Use packaging.version instead.
  if not hasattr(tensorboard, '__version__') or LooseVersion(tensorboard.__version__) < LooseVersion('1.15'):
/home/wd/anaconda3/envs/rlgpu/lib/python3.7/site-packages/torchvision/transforms/functional_pil.py:207: DeprecationWarning: BILINEAR is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.BILINEAR instead.
  def resize(img, size, interpolation=Image.BILINEAR):
/home/wd/anaconda3/envs/rlgpu/lib/python3.7/site-packages/torchvision/transforms/functional_pil.py:280: DeprecationWarning: BICUBIC is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.BICUBIC instead.
  def perspective(img, perspective_coeffs, interpolation=Image.BICUBIC, fill=None):
Setting seed: 8121
Python
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:0
GPU Pipeline: enabled
*** Failed to load '/home/lohse/isaac_ws/src/isaac-gym/scripts/Isaac-drlgrasp/assets/baxter/baxter_isaac.urdf'[Error] [carb.gym.plugin] Failed to parse URDF file 'baxter/baxter_isaac.urdf'
[Error] [carb.gym.plugin] Failed to import URDF file 'baxter/baxter_isaac.urdf'
[Error] [carb.gym.plugin] *** Failed to load 'baxter/baxter_isaac.urdf' from '/home/lohse/isaac_ws/src/isaac-gym/scripts/Isaac-drlgrasp/assets'
*** Failed to load '/home/lohse/isaac_ws/src/isaac-gym/scripts/Isaac-drlgrasp/assets/urdf/sektion_cabinet_model/urdf/sektion_cabinet_2.urdf'[Error] [carb.gym.plugin] Failed to parse URDF file 'urdf/sektion_cabinet_model/urdf/sektion_cabinet_2.urdf'
[Error] [carb.gym.plugin] Failed to import URDF file 'urdf/sektion_cabinet_model/urdf/sektion_cabinet_2.urdf'
[Error] [carb.gym.plugin] *** Failed to load 'urdf/sektion_cabinet_model/urdf/sektion_cabinet_2.urdf' from '/home/lohse/isaac_ws/src/isaac-gym/scripts/Isaac-drlgrasp/assets'
num baxter bodies:  0
num baxter dofs:  0
num cabinet bodies:  0
num cabinet dofs:  0
Traceback (most recent call last):
  File "train.py", line 38, in <module>
    train()
  File "train.py", line 21, in train
    task, env = parse_task(args, cfg, cfg_train, sim_params)
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/utils/parse_task.py", line 67, in parse_task
    headless=args.headless)
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/tasks/baxter_pick_and_place.py", line 99, in __init__
    super().__init__(cfg=self.cfg)
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/tasks/base/base_task.py", line 80, in __init__
    self.create_sim()
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/tasks/baxter_pick_and_place.py", line 149, in create_sim
    self._create_envs(self.num_envs, self.cfg["env"]['envSpacing'], int(np.sqrt(self.num_envs)))
  File "/home/wd/cjy2024.3/IsaacGym_Preview_4_Package/Isaac-ManipulaRL/rlgpu/tasks/baxter_pick_and_place.py", line 260, in _create_envs
    self.baxter_dof_speed_scales[[17, 18]] = 1
IndexError: index is out of bounds for dimension with size 0

I am sure that I never change any code, but it just happened. what should i do? Thank you very much in advance.