[Bug Report] Problems of the environment "Isaac-PickPlace-Locomanipulation-G1-Abs-v0"

[gcy-hub]

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Describe the bug

When I ran the command "python scripts/environments/zero_agent.py --task Isaac-PickPlace-Locomanipulation-G1-Abs-v0", I encountered an error: "gymnasium.error.NameNotFound: Environment Isaac-PickPlace-Locomanipulation-G1-Abs doesn't exist". So I added a line of code "import isaaclab.source.isaaclab_tasks.isaaclab_tasks.manager_based.locomanipulation.pick_place" to "zero_agent.py". After doing this, the warning "WARN: Overriding environment Isaac-PickPlace-Locomanipulation-G1-Abs-v0 already in registry." appeared. Although the simulation screen rendered successfully, the robot did not move, and the following errors were reported:"Warning: IK quadratic solver could not find a solution! Did not update the target joint positions.Error: Workspace allocation error!ERROR in LDL_factor: Error in KKT matrix LDL factorization when computing the nonzero elements. The problem seems to be non-convexERROR in osqp_setup: KKT matrix factorization.The problem seems to be non-convex."

Steps to reproduce

Please try to provide a minimal example to reproduce the bug. Error messages and stack traces are also helpful.

• Isaac Sim Version:5.1
• OS: Ubuntu 24.04
• GPU: RTX 3090
• CUDA: 12.6
• GPU Driver: 580.95.05

[PeterL-NV]

Hi, Is the task Isaac-PickPlace-Locomanipulation-G1-Abs-v0 your own task?

[gcy-hub]

This environment is included in the list of available environments specified in the official documentation.

[michaellin6]

Hi @gcy-hub, this task was introduced in Isaac Lab 2.3 and it is meant to be used in the imitation learning workflow. We are currently not providing support for zero_agent.py and random_agent.py for any of the Mimic task, but we will add this work items to provide support.

[michaellin6]

You can try the environments through the record_demos.py or teleop_se3_agent.py scripts as indicated in the documentation.

[RaiaN]

@michaellin6 Appreciate your feedback. How can one record a video of Humanoid robot executing Pick&Place ops? This section from documentation has zero information: https://isaac-sim.github.io/IsaacLab/main/source/overview/imitation-learning/teleop_imitation.html#id1

Any help?

[PeterL-NV]

@RaiaN Check Demo 3 on the same page how to collect the demos with record_demos.py