isaac-sim
isaaclab sometimes it can train somtimes it can't train with bug below
i use isaaclab 2.3.0 isaacsim 5.1.0 and my code don't change any line but sometimes it can train somtimes it can't train with bug below
2025-11-13T04:24:57Z [5,843ms] [Warning] [isaaclab.terrains.terrain_importer] Visual material specified for ground plane but no diffuse color found. Using default color: (0.0, 0.0, 0.0) [INFO]: Time taken for scene creation : 55.700144 seconds Error executing job with overrides: [] Traceback (most recent call last): File "/home/zju/miniconda3/envs/lab/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 734, in make env = env_creator(**env_spec_kwargs) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zju/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 82, in init super().init(cfg=cfg) File "/home/zju/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_env.py", line 137, in init self.scene = InteractiveScene(self.cfg.scene) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zju/IsaacLab/source/isaaclab/isaaclab/scene/interactive_scene.py", line 179, in init self.add_entities_from_cfg() File "/home/zju/IsaacLab/source/isaaclab/isaaclab/scene/interactive_scene.py", line 740, in add_entities_from_cfg self.terrain = asset_cfg.class_type(asset_cfg) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zju/IsaacLab/source/isaaclab/isaaclab/terrains/terrain_importer.py", line 107, in init self.import_ground_plane("terrain") File "/home/zju/IsaacLab/source/isaaclab/isaaclab/terrains/terrain_importer.py", line 221, in import_ground_plane ground_plane_cfg.func(prim_path, ground_plane_cfg) File "/home/zju/IsaacLab/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py", line 170, in spawn_ground_plane bind_physics_material(collision_prim_path, f"{prim_path}/physicsMaterial") File "/home/zju/IsaacLab/source/isaaclab/isaaclab/sim/utils.py", line 177, in wrapper prim: Usd.Prim = stage.GetPrimAtPath(prim_path) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Boost.Python.ArgumentError: Python argument types in Stage.GetPrimAtPath(Stage, NoneType) did not match C++ signature: GetPrimAtPath(pxrInternal_v0_24__pxrReserved::UsdStage {lvalue}, pxrInternal_v0_24__pxrReserved_::SdfPath path)
During handling of the above exception, another exception occurred:
Traceback (most recent call last): File "/home/zju/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main func(env_cfg, agent_cfg, args, **kwargs) File "/home/zju/robot_lab-yu/scripts/reinforcement_learning/rsl_rl/train.py", line 158, in main env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zju/miniconda3/envs/lab/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 746, in make raise type(e)( Boost.Python.ArgumentError: Python argument types in Stage.GetPrimAtPath(Stage, NoneType) did not match C++ signature: GetPrimAtPath(pxrInternal_v0_24__pxrReserved__::UsdStage {lvalue}, pxrInternal_v0_24__pxrReserved__::SdfPath path) was raised from the environment creator for RobotLab-Isaac-Velocity-Flat-DS-v0 with kwargs ({'env_cfg_entry_point': 'robot_lab.tasks.manager_based.locomotion.velocity.config.wheeled.ds.flat_env_cfg:DSFlatEnvCfg', 'rsl_rl_cfg_entry_point': 'robot_lab.tasks.manager_based.locomotion.velocity.config.wheeled.ds.agents.rsl_rl_ppo_cfg:DSFlatPPORunnerCfg', 'cusrl_cfg_entry_point': 'robot_lab.tasks.manager_based.locomotion.velocity.config.wheeled.ds.agents.cusrl_ppo_cfg:DSFlatTrainerCfg', 'cfg': DSFlatEnvCfg(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, body_name=None), sim=SimulationCfg(physics_prim_path='/physicsScene', device='cuda:0', dt=0.005, render_interval=4, gravity=(0.0, 0.0, -9.81), enable_scene_query_support=False, use_fabric=True, 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=False, enable_enhanced_determinism=False, bounce_threshold_velocity=0.5, friction_offset_threshold=0.04, friction_correlation_distance=0.025, gpu_max_rigid_contact_count=8388608, gpu_max_rigid_patch_count=327680, gpu_found_lost_pairs_capacity=2097152, gpu_found_lost_aggregate_pairs_capacity=33554432, gpu_total_aggregate_pairs_capacity=2097152, 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, solve_articulation_contact_last=False), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x79497a0e6840>, static_friction=1.0, dynamic_friction=1.0, restitution=1.0, friction_combine_mode='multiply', restitution_combine_mode='multiply', compliant_contact_stiffness=0.0, compliant_contact_damping=0.0), render=RenderCfg(enable_translucency=None, enable_reflections=None, enable_global_illumination=None, antialiasing_mode=None, enable_dlssg=None, enable_dl_denoiser=None, dlss_mode=None, enable_direct_lighting=None, samples_per_pixel=None, enable_shadows=None, enable_ambient_occlusion=None, dome_light_upper_lower_strategy=None, carb_settings=None, rendering_mode=None), create_stage_in_memory=False), ui_window_class_type=<class 'isaaclab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow'>, seed=42, decimation=4, scene=MySceneCfg(num_envs=4096, env_spacing=2.5, lazy_sensor_update=True, replicate_physics=True, filter_collisions=True, clone_in_fabric=False, robot=ArticulationCfg(class_type=<class 'isaaclab.assets.articulation.articulation.Articulation'>, prim_path='/World/envs/env_./Robot', spawn=UrdfFileCfg(asset_path='/home/zju/robot_lab-yu/source/robot_lab/data/Robots/ds_description/mjcf/ds_description.urdf', usd_dir=None, usd_file_name=None, force_usd_conversion=False, make_instanceable=True, fix_base=False, root_link_name=None, link_density=0.0, merge_fixed_joints=True, convert_mimic_joints_to_normal_joints=False, joint_drive=UrdfConverterCfg.JointDriveCfg(drive_type='force', target_type='position', gains=UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=0, damping=0)), collider_type='convex_hull', self_collision=False, replace_cylinders_with_capsules=False, collision_from_visuals=False, func=<function spawn_from_urdf at 0x79497a0e6020>, 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=0.0, angular_damping=0.0, max_linear_velocity=1000.0, max_angular_velocity=1000.0, max_depenetration_velocity=1.0, max_contact_impulse=None, enable_gyroscopic_forces=None, retain_accelerations=False, solver_position_iteration_count=None, solver_velocity_iteration_count=None, sleep_threshold=None, stabilization_threshold=None), collision_props=None, activate_contact_sensors=True, scale=None, articulation_props=ArticulationRootPropertiesCfg(articulation_enabled=None, enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0, sleep_threshold=None, stabilization_threshold=None, fix_root_link=None), fixed_tendons_props=None, spatial_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=None), init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 0.65), 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={'FL_hip_joint': 0.0, 'FL_thigh_joint': 0.8, 'FL_calf_joint': -1.5, 'FL_foot_joint': 0.0, 'FR_hip_joint': 0.0, 'FR_thigh_joint': -0.8, 'FR_calf_joint': 1.5, 'FR_foot_joint': 0.0, 'RL_hip_joint': 0.0, 'RL_thigh_joint': -0.8, 'RL_calf_joint': 1.5, 'RL_foot_joint': 0.0, 'RR_hip_joint': 0.0, 'RR_thigh_joint': 0.8, 'RR_calf_joint': -1.5, 'RR_foot_joint': 0.0}, joint_vel={'.': 0.0}), collision_group=0, debug_vis=False, articulation_root_prim_path=None, soft_joint_pos_limit_factor=0.9, actuators={'hip': DCMotorCfg(class_type=<class 'isaaclab.actuators.actuator_pd.DCMotor'>, joint_names_expr=['._hip_joint'], effort_limit=200.0, velocity_limit=23.0, effort_limit_sim=None, velocity_limit_sim=None, stiffness=160.0, damping=5.0, armature=None, friction=0.0, dynamic_friction=None, viscous_friction=None, saturation_effort=200.0), 'thigh': DCMotorCfg(class_type=<class 'isaaclab.actuators.actuator_pd.DCMotor'>, joint_names_expr=['._thigh_joint'], effort_limit=200.0, velocity_limit=23.0, effort_limit_sim=None, velocity_limit_sim=None, stiffness=160.0, damping=5.0, armature=None, friction=0.0, dynamic_friction=None, viscous_friction=None, saturation_effort=200.0), 'calf': DCMotorCfg(class_type=<class 'isaaclab.actuators.actuator_pd.DCMotor'>, joint_names_expr=['._calf_joint'], effort_limit=320.0, velocity_limit=14.0, effort_limit_sim=None, velocity_limit_sim=None, stiffness=160.0, damping=5.0, armature=None, friction=0.0, dynamic_friction=None, viscous_friction=None, saturation_effort=320.0), 'wheel': ImplicitActuatorCfg(class_type=<class 'isaaclab.actuators.actuator_pd.ImplicitActuator'>, joint_names_expr=['._foot_joint'], effort_limit=None, velocity_limit=None, effort_limit_sim=20.0, velocity_limit_sim=50.0, stiffness=0.0, damping=1.0, armature=None, friction=0.0, dynamic_friction=None, viscous_friction=None)}, actuator_value_resolution_debug_print=False), terrain=TerrainImporterCfg(class_type=<class 'isaaclab.terrains.terrain_importer.TerrainImporter'>, collision_group=-1, prim_path='/World/ground', num_envs=4096, terrain_type='plane', terrain_generator=None, usd_path=None, env_spacing=2.5, use_terrain_origins=True, visual_material=MdlFileCfg(func=<function spawn_from_mdl_file at 0x79497a104220>, mdl_path='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl', project_uvw=True, albedo_brightness=None, texture_scale=(0.25, 0.25)), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x79497a0e6840>, static_friction=1.0, dynamic_friction=1.0, restitution=1.0, friction_combine_mode='multiply', restitution_combine_mode='multiply', compliant_contact_stiffness=0.0, compliant_contact_damping=0.0), max_init_terrain_level=5, debug_vis=False), height_scanner=None, height_scanner_base=RayCasterCfg(class_type=<class 'isaaclab.sensors.ray_caster.ray_caster.RayCaster'>, prim_path='{ENV_REGEX_NS}/Robot/base', update_period=0.0, history_length=0, debug_vis=False, mesh_prim_paths=['/World/ground'], offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0), rot=(1.0, 0.0, 0.0, 0.0)), attach_yaw_only=None, ray_alignment='yaw', pattern_cfg=GridPatternCfg(func=<function grid_pattern at 0x794967d6ff60>, resolution=0.05, size=(0.1, 0.1), direction=(0.0, 0.0, -1.0), ordering='xy'), max_distance=1000000.0, drift_range=(0.0, 0.0), ray_cast_drift_range={'x': (0.0, 0.0), 'y': (0.0, 0.0), 'z': (0.0, 0.0)}, visualizer_cfg=VisualizationMarkersCfg(prim_path='/Visuals/RayCaster', markers={'hit': SphereCfg(func=<function spawn_sphere at 0x7949781360c0>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, rigid_props=None, collision_props=None, activate_contact_sensors=False, visual_material_path='material', visual_material=PreviewSurfaceCfg(func=<function spawn_preview_surface at 0x79497a1040e0>, diffuse_color=(1.0, 0.0, 0.0), emissive_color=(0.0, 0.0, 0.0), roughness=0.5, metallic=0.0, opacity=1.0), physics_material_path='material', physics_material=None, radius=0.02)})), contact_forces=ContactSensorCfg(class_type=<class 'isaaclab.sensors.contact_sensor.contact_sensor.ContactSensor'>, prim_path='{ENV_REGEX_NS}/Robot/.', update_period=0.005, history_length=3, debug_vis=False, track_pose=False, track_contact_points=False, max_contact_data_count_per_prim=4, track_air_time=True, force_threshold=1.0, filter_prim_paths_expr=[], visualizer_cfg=VisualizationMarkersCfg(prim_path='/Visuals/ContactSensor', markers={'contact': SphereCfg(func=<function spawn_sphere at 0x7949781360c0>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, rigid_props=None, collision_props=None, activate_contact_sensors=False, visual_material_path='material', visual_material=PreviewSurfaceCfg(func=<function spawn_preview_surface at 0x79497a1040e0>, diffuse_color=(1.0, 0.0, 0.0), emissive_color=(0.0, 0.0, 0.0), roughness=0.5, metallic=0.0, opacity=1.0), physics_material_path='material', physics_material=None, radius=0.02), 'no_contact': SphereCfg(func=<function spawn_sphere at 0x7949781360c0>, visible=False, semantic_tags=None, copy_from_source=True, mass_props=None, rigid_props=None, collision_props=None, activate_contact_sensors=False, visual_material_path='material', visual_material=PreviewSurfaceCfg(func=<function spawn_preview_surface at 0x79497a1040e0>, diffuse_color=(0.0, 1.0, 0.0), emissive_color=(0.0, 0.0, 0.0), roughness=0.5, metallic=0.0, opacity=1.0), physics_material_path='material', physics_material=None, radius=0.02)})), sky_light=AssetBaseCfg(class_type=None, prim_path='/World/skyLight', spawn=DomeLightCfg(func=<function spawn_light at 0x794979f2c7c0>, visible=True, semantic_tags=None, copy_from_source=True, prim_type='DomeLight', color=(1.0, 1.0, 1.0), enable_color_temperature=False, color_temperature=6500.0, normalize=False, exposure=0.0, intensity=750.0, texture_file='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr', 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 'isaaclab.utils.datasets.hdf5_dataset_file_handler.HDF5DatasetFileHandler'>, dataset_export_dir_path='/tmp/isaaclab/logs', dataset_filename='dataset', dataset_export_mode=<DatasetExportMode.EXPORT_ALL: 1>, export_in_record_pre_reset=True), observations=ObservationsCfg(policy=ObservationsCfg.PolicyCfg(concatenate_terms=True, concatenate_dim=-1, enable_corruption=True, history_length=None, flatten_history_dim=True, base_lin_vel=None, base_ang_vel=ObservationTermCfg(func=<function base_ang_vel at 0x794962600a40>, params={}, modifiers=None, noise=UniformNoiseCfg(func=<function uniform_noise at 0x794962e2e3e0>, operation='add', n_min=-0.2, n_max=0.2), clip=(-100.0, 100.0), scale=0.25, history_length=0, flatten_history_dim=True), projected_gravity=ObservationTermCfg(func=<function projected_gravity at 0x794962600b80>, params={}, modifiers=None, noise=UniformNoiseCfg(func=<function uniform_noise at 0x794962e2e3e0>, operation='add', n_min=-0.05, n_max=0.05), clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), velocity_commands=ObservationTermCfg(func=<function generated_commands at 0x794962602480>, params={'command_name': 'base_velocity'}, modifiers=None, noise=None, clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), joint_pos=ObservationTermCfg(func=<function joint_pos_rel_without_wheel at 0x7948e70be7a0>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint', 'FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint'], 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=True), 'wheel_asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint'], 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=UniformNoiseCfg(func=<function uniform_noise at 0x794962e2e3e0>, operation='add', n_min=-0.01, n_max=0.01), clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), joint_vel=ObservationTermCfg(func=<function joint_vel_rel at 0x794962601940>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint', 'FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint'], 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=True)}, modifiers=None, noise=UniformNoiseCfg(func=<function uniform_noise at 0x794962e2e3e0>, operation='add', n_min=-1.5, n_max=1.5), clip=(-100.0, 100.0), scale=0.05, history_length=0, flatten_history_dim=True), actions=ObservationTermCfg(func=<function last_action at 0x794962602340>, params={}, modifiers=None, noise=None, clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), height_scan=None), critic=ObservationsCfg.CriticCfg(concatenate_terms=True, concatenate_dim=-1, enable_corruption=False, history_length=None, flatten_history_dim=True, base_lin_vel=ObservationTermCfg(func=<function base_lin_vel at 0x794962600900>, params={}, modifiers=None, noise=None, clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), base_ang_vel=ObservationTermCfg(func=<function base_ang_vel at 0x794962600a40>, params={}, modifiers=None, noise=None, clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), projected_gravity=ObservationTermCfg(func=<function projected_gravity at 0x794962600b80>, params={}, modifiers=None, noise=None, clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), velocity_commands=ObservationTermCfg(func=<function generated_commands at 0x794962602480>, params={'command_name': 'base_velocity'}, modifiers=None, noise=None, clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), joint_pos=ObservationTermCfg(func=<function joint_pos_rel_without_wheel at 0x7948e70be7a0>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names='.', 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=True), 'wheel_asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint'], 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=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), joint_vel=ObservationTermCfg(func=<function joint_vel_rel at 0x794962601940>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names='.', 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=True)}, modifiers=None, noise=None, clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), actions=ObservationTermCfg(func=<function last_action at 0x794962602340>, params={}, modifiers=None, noise=None, clip=(-100.0, 100.0), scale=1.0, history_length=0, flatten_history_dim=True), height_scan=None)), actions=DSActionsCfg(joint_pos=JointPositionActionCfg(class_type=<class 'isaaclab.envs.mdp.actions.joint_actions.JointPositionAction'>, asset_name='robot', debug_vis=False, clip={'.': (-100.0, 100.0)}, joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], scale={'._hip_joint': 0.25, '^(?!._hip_joint).': 0.25}, offset=0.0, preserve_order=True, use_default_offset=True), joint_vel=JointVelocityActionCfg(class_type=<class 'isaaclab.envs.mdp.actions.joint_actions.JointVelocityAction'>, asset_name='robot', debug_vis=False, clip={'.': (-100.0, 100.0)}, joint_names=['FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint'], scale=5.0, offset=0.0, preserve_order=True, use_default_offset=True)), events=EventCfg(randomize_rigid_body_material=EventTermCfg(func=<class 'isaaclab.envs.mdp.events.randomize_rigid_body_material'>, params={'asset_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='.', body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'static_friction_range': (0.3, 1.0), 'dynamic_friction_range': (0.3, 0.8), 'restitution_range': (0.0, 0.5), 'num_buckets': 64}, mode='startup', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), randomize_rigid_body_mass_base=EventTermCfg(func=<class 'isaaclab.envs.mdp.events.randomize_rigid_body_mass'>, params={'asset_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=['base'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'mass_distribution_params': (-1.0, 3.0), 'operation': 'add', 'recompute_inertia': True}, mode='startup', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), randomize_rigid_body_mass_others=EventTermCfg(func=<class 'isaaclab.envs.mdp.events.randomize_rigid_body_mass'>, params={'asset_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=['^(?!.base).'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'mass_distribution_params': (0.8, 1.2), 'operation': 'scale', 'recompute_inertia': True}, mode='startup', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), randomize_com_positions=EventTermCfg(func=<function randomize_rigid_body_com at 0x794962e834c0>, params={'asset_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=['base'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'com_range': {'x': (-0.05, 0.05), 'y': (-0.05, 0.05), 'z': (-0.05, 0.05)}}, mode='startup', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), randomize_apply_external_force_torque=EventTermCfg(func=<function apply_external_force_torque at 0x7949627d7560>, params={'asset_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=['base'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'force_range': (-10.0, 10.0), 'torque_range': (-10.0, 10.0)}, mode='reset', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), randomize_reset_joints=EventTermCfg(func=<function reset_joints_by_scale at 0x7949627d7c40>, params={'position_range': (1.0, 1.0), 'velocity_range': (0.0, 0.0)}, mode='reset', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), randomize_actuator_gains=EventTermCfg(func=<class 'isaaclab.envs.mdp.events.randomize_actuator_gains'>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names='.', 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), 'stiffness_distribution_params': (0.8, 1.2), 'damping_distribution_params': (0.8, 1.2), 'operation': 'scale', 'distribution': 'uniform'}, mode='reset', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), randomize_reset_base=EventTermCfg(func=<function reset_root_state_uniform at 0x7949627d7a60>, params={'pose_range': {'x': (-0.5, 0.5), 'y': (-0.5, 0.5), 'z': (0.0, 0.2), 'roll': (-0.3, 0.3), 'pitch': (-0.3, 0.3), 'yaw': (-0.3, 0.3)}, 'velocity_range': {'x': (-0.5, 0.5), 'y': (-0.5, 0.5), 'z': (-0.5, 0.5), 'roll': (-0.5, 0.5), 'pitch': (-0.5, 0.5), 'yaw': (-0.5, 0.5)}}, mode='reset', interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), randomize_push_robot=EventTermCfg(func=<function push_by_setting_velocity at 0x7949627d79c0>, params={'velocity_range': {'x': (-0.5, 0.5), 'y': (-0.5, 0.5)}}, mode='interval', interval_range_s=(10.0, 15.0), is_global_time=False, min_step_count_between_reset=0)), rerender_on_reset=False, num_rerenders_on_reset=0, wait_for_textures=True, xr=None, teleop_devices=DevicesCfg(devices={}), export_io_descriptors=False, log_dir='/home/zju/robot_lab-yu/logs/rsl_rl/ds_flat/2025-11-13_12-24-56', is_finite_horizon=False, episode_length_s=20.0, rewards=DSRewardsCfg(is_terminated=None, lin_vel_z_l2=RewardTermCfg(func=<function lin_vel_z_l2 at 0x7948e6f04360>, params={}, weight=-2.0), ang_vel_xy_l2=RewardTermCfg(func=<function ang_vel_xy_l2 at 0x7948e6f04400>, params={}, weight=-0.05), flat_orientation_l2=RewardTermCfg(func=<function flat_orientation_l2 at 0x7948e6f04540>, params={}, weight=-2.0), base_height_l2=None, body_lin_acc_l2=None, joint_torques_l2=RewardTermCfg(func=<function joint_torques_l2 at 0x794962628ae0>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], 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)}, weight=-2e-05), joint_vel_l2=RewardTermCfg(func=<function joint_vel_l2 at 0x794962628c20>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], 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)}, weight=1e-05), joint_acc_l2=RewardTermCfg(func=<function joint_acc_l2 at 0x794962628cc0>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], 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)}, weight=-2.5e-07), joint_pos_limits=RewardTermCfg(func=<function joint_pos_limits at 0x794962628e00>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], 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)}, weight=-5.0), joint_vel_limits=None, joint_power=None, stand_still=RewardTermCfg(func=<function stand_still at 0x7948e70bf4c0>, params={'command_name': 'base_velocity', 'command_threshold': 0.1, 'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], 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)}, weight=-1.0), joint_pos_penalty=RewardTermCfg(func=<function joint_pos_penalty at 0x7948e70bf560>, params={'command_name': 'base_velocity', 'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], 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), 'stand_still_scale': 5.0, 'velocity_threshold': 0.5, 'command_threshold': 0.1}, weight=-0.2), wheel_vel_penalty=None, joint_mirror=None, action_mirror=None, action_sync=None, applied_torque_limits=None, action_rate_l2=RewardTermCfg(func=<function action_rate_l2 at 0x794962628fe0>, params={}, weight=-0.01), undesired_contacts=RewardTermCfg(func=<function undesired_contacts at 0x7948e6f044a0>, params={'sensor_cfg': SceneEntityCfg(name='contact_forces', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=['^(?!.._foot).'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'threshold': 1.0}, weight=-1.0), contact_forces=RewardTermCfg(func=<function contact_forces at 0x794962629260>, params={'sensor_cfg': SceneEntityCfg(name='contact_forces', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=['._foot'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'threshold': 200.0}, weight=-0.001), track_lin_vel_xy_exp=RewardTermCfg(func=<function track_lin_vel_xy_exp at 0x7948e70bf1a0>, params={'command_name': 'base_velocity', 'std': 0.5}, weight=1.0), track_ang_vel_z_exp=RewardTermCfg(func=<function track_ang_vel_z_exp at 0x7948e70bf240>, params={'command_name': 'base_velocity', 'std': 0.5}, weight=0.8), feet_air_time=None, feet_air_time_variance=None, feet_gait=None, feet_contact=None, feet_contact_without_cmd=None, feet_stumble=None, feet_slide=None, feet_height=None, feet_height_body=None, feet_distance_y_exp=None, upward=None, joint_vel_wheel_l2=RewardTermCfg(func=<function joint_vel_l2 at 0x794962628c20>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint'], 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)}, weight=1e-06), joint_acc_wheel_l2=RewardTermCfg(func=<function joint_acc_l2 at 0x794962628cc0>, params={'asset_cfg': SceneEntityCfg(name='robot', joint_names=['FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint'], 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)}, weight=-2.5e-10), joint_torques_wheel_l2=None), terminations=TerminationsCfg(time_out=TerminationTermCfg(func=<function time_out at 0x794962629580>, params={}, time_out=True), terrain_out_of_bounds=TerminationTermCfg(func=<function terrain_out_of_bounds at 0x7948e70bd4e0>, params={'asset_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), 'distance_buffer': 3.0}, time_out=True), illegal_contact=TerminationTermCfg(func=<function illegal_contact at 0x794962629b20>, params={'sensor_cfg': SceneEntityCfg(name='contact_forces', joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=['base'], body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False), 'threshold': 1.0}, time_out=False)), curriculum=CurriculumCfg(terrain_levels=None, command_levels_lin_vel=CurriculumTermCfg(func=<function command_levels_lin_vel at 0x7948e70bdee0>, params={'reward_term_name': 'track_lin_vel_xy_exp', 'range_multiplier': (0.2, 1.0)}), command_levels_ang_vel=CurriculumTermCfg(func=<function command_levels_ang_vel at 0x7948e70be2a0>, params={'reward_term_name': 'track_ang_vel_z_exp', 'range_multiplier': (0.2, 1.0)})), commands=CommandsCfg(base_velocity=UniformThresholdVelocityCommandCfg(class_type=<class 'robot_lab.tasks.manager_based.locomotion.velocity.mdp.commands.UniformThresholdVelocityCommand'>, resampling_time_range=(10.0, 10.0), debug_vis=True, asset_name='robot', heading_command=True, heading_control_stiffness=0.5, rel_standing_envs=0.02, rel_heading_envs=1.0, ranges=UniformVelocityCommandCfg.Ranges(lin_vel_x=(-3.0, 3.0), lin_vel_y=(-1.0, 1.0), ang_vel_z=(-3.0, 3.0), heading=(-3.141592653589793, 3.141592653589793)), goal_vel_visualizer_cfg=VisualizationMarkersCfg(prim_path='/Visuals/Command/velocity_goal', markers={'arrow': UsdFileCfg(func=<function spawn_from_usd at 0x79497a0e5ee0>, 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=(0.5, 0.5, 0.5), articulation_props=None, fixed_tendons_props=None, spatial_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=PreviewSurfaceCfg(func=<function spawn_preview_surface at 0x79497a1040e0>, diffuse_color=(0.0, 1.0, 0.0), emissive_color=(0.0, 0.0, 0.0), roughness=0.5, metallic=0.0, opacity=1.0), usd_path='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd', variants=None)}), current_vel_visualizer_cfg=VisualizationMarkersCfg(prim_path='/Visuals/Command/velocity_current', markers={'arrow': UsdFileCfg(func=<function spawn_from_usd at 0x79497a0e5ee0>, 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=(0.5, 0.5, 0.5), articulation_props=None, fixed_tendons_props=None, spatial_tendons_props=None, joint_drive_props=None, visual_material_path='material', visual_material=PreviewSurfaceCfg(func=<function spawn_preview_surface at 0x79497a1040e0>, diffuse_color=(0.0, 0.0, 1.0), emissive_color=(0.0, 0.0, 0.0), roughness=0.5, metallic=0.0, opacity=1.0), usd_path='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/arrow_x.usd', variants=None)}))), base_link_name='base', foot_link_name='._foot', leg_joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], wheel_joint_names=['FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint'], joint_names=['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint', 'FR_foot_joint', 'FL_foot_joint', 'RR_foot_joint', 'RL_foot_joint']), 'render_mode': None})
I assume the issue is fixed? I am closing the issue for now. Feel free to reopen if you need further help.