BUG CRASH when recording video (python train.py task=HumanoidAMP capture_video=True) --> render() got an unexpected keyword argument 'mode'
Opened this issue · 2 comments
Hello,
I've discovered IsaacGymEnvs can capture video (capture_video=True) for static viewers (e.g. AnymalTerrain), but not dynamic ones (HumanoidAMP).
IsaacGymEnvs immediately crashes when I run:
python train.py task=HumanoidAMP capture_video=TrueHere is the error it produces:
Error executing job with overrides: ['task=HumanoidAMP', 'capture_video=True']
Traceback (most recent call last):
File "train.py", line 190, in launch_rlg_hydra
runner.run({
File "/home/gene/code/rl_games/rl_games/torch_runner.py", line 121, in run
self.run_train(args)
File "/home/gene/code/rl_games/rl_games/torch_runner.py", line 102, in run_train
agent.train()
File "/home/gene/code/IsaacGymEnvs/isaacgymenvs/learning/common_agent.py", line 120, in train
self.obs = self.env_reset()
File "/home/gene/code/rl_games/rl_games/common/a2c_common.py", line 507, in env_reset
obs = self.vec_env.reset()
File "/home/gene/code/IsaacGymEnvs/isaacgymenvs/utils/rlgames_utils.py", line 249, in reset
return self.env.reset()
File "/home/gene/anaconda3/envs/isaacgym/lib/python3.8/site-packages/gym/wrappers/record_video.py", line 58, in reset
self.start_video_recorder()
File "/home/gene/anaconda3/envs/isaacgym/lib/python3.8/site-packages/gym/wrappers/record_video.py", line 75, in start_video_recorder
self.video_recorder.capture_frame()
File "/home/gene/anaconda3/envs/isaacgym/lib/python3.8/site-packages/gym/wrappers/monitoring/video_recorder.py", line 157, in capture_frame
frame = self.env.render(mode=render_mode)
TypeError: render() got an unexpected keyword argument 'mode'I found this error, because I attempted to duplicate code from HumanoidAMP to AnymalTerrain (since it makes sense for the viewer to also be dynamic, by tracking the agent and keeping it in frame), but it also crashes and produces the same error.
Searching online, it seems people have faced various issues relating to gym versioning/compatibility, but not this specific issue. I haven't been able to figure out a solution after debugging for a day or two.
I would appreciate it if someone could take a look and hopefully spot a quick solution! Thank you very much for your help : )
I did not mean to close this issue, as it is still unresolved. I wanted to post my installation process and conda environment, so that you could easily replicate this bug crash. Let me know if I can provide any additional information, thank you !!
Here was my installation process:
conda create -n isaacgym python=3.8.13
conda activate isaacgym
git clone git@github.com:NVIDIA-Omniverse/IsaacGymEnvs.git
cd IsaacGymEnvs
pip install -e .
cd isaacgym
pip install -e .
pip install numpy==1.20.0Here is my conda environment:
conda list# packages in environment at /home/gene/anaconda3/envs/isaacgym:
#
# Name Version Build Channel
_libgcc_mutex 0.1 main
_openmp_mutex 5.1 1_gnu
absl-py 1.4.0 pypi_0 pypi
aiosignal 1.3.1 pypi_0 pypi
antlr4-python3-runtime 4.9.3 pypi_0 pypi
attrs 23.1.0 pypi_0 pypi
ca-certificates 2023.01.10 h06a4308_0
cachetools 5.3.0 pypi_0 pypi
certifi 2022.12.7 pypi_0 pypi
charset-normalizer 3.1.0 pypi_0 pypi
click 8.0.4 pypi_0 pypi
cloudpickle 2.2.1 pypi_0 pypi
cmake 3.26.3 pypi_0 pypi
distlib 0.3.6 pypi_0 pypi
docker-pycreds 0.4.0 pypi_0 pypi
filelock 3.12.0 pypi_0 pypi
frozenlist 1.3.3 pypi_0 pypi
gitdb 4.0.10 pypi_0 pypi
gitpython 3.1.31 pypi_0 pypi
google-auth 2.17.3 pypi_0 pypi
google-auth-oauthlib 0.4.6 pypi_0 pypi
grpcio 1.43.0 pypi_0 pypi
gym 0.23.1 pypi_0 pypi
gym-notices 0.0.8 pypi_0 pypi
hydra-core 1.3.2 pypi_0 pypi
idna 3.4 pypi_0 pypi
imageio 2.27.0 pypi_0 pypi
importlib-metadata 6.5.0 pypi_0 pypi
importlib-resources 5.12.0 pypi_0 pypi
isaacgym 1.0rc4 dev_0 <develop>
isaacgymenvs 1.3.4 dev_0 <develop>
jinja2 3.1.2 pypi_0 pypi
jsonschema 4.17.3 pypi_0 pypi
ld_impl_linux-64 2.38 h1181459_1
libffi 3.3 he6710b0_2
libgcc-ng 11.2.0 h1234567_1
libgomp 11.2.0 h1234567_1
libstdcxx-ng 11.2.0 h1234567_1
lit 16.0.1 pypi_0 pypi
markdown 3.4.3 pypi_0 pypi
markupsafe 2.1.2 pypi_0 pypi
mpmath 1.3.0 pypi_0 pypi
msgpack 1.0.5 pypi_0 pypi
ncurses 6.4 h6a678d5_0
networkx 3.1 pypi_0 pypi
ninja 1.11.1 pypi_0 pypi
numpy 1.20.0 pypi_0 pypi
nvidia-cublas-cu11 11.10.3.66 pypi_0 pypi
nvidia-cuda-cupti-cu11 11.7.101 pypi_0 pypi
nvidia-cuda-nvrtc-cu11 11.7.99 pypi_0 pypi
nvidia-cuda-runtime-cu11 11.7.99 pypi_0 pypi
nvidia-cudnn-cu11 8.5.0.96 pypi_0 pypi
nvidia-cufft-cu11 10.9.0.58 pypi_0 pypi
nvidia-curand-cu11 10.2.10.91 pypi_0 pypi
nvidia-cusolver-cu11 11.4.0.1 pypi_0 pypi
nvidia-cusparse-cu11 11.7.4.91 pypi_0 pypi
nvidia-nccl-cu11 2.14.3 pypi_0 pypi
nvidia-nvtx-cu11 11.7.91 pypi_0 pypi
oauthlib 3.2.2 pypi_0 pypi
omegaconf 2.3.0 pypi_0 pypi
opencv-python 4.7.0.72 pypi_0 pypi
openssl 1.1.1t h7f8727e_0
packaging 23.1 pypi_0 pypi
pathtools 0.1.2 pypi_0 pypi
pillow 9.5.0 pypi_0 pypi
pip 23.0.1 py38h06a4308_0
pkgutil-resolve-name 1.3.10 pypi_0 pypi
platformdirs 3.2.0 pypi_0 pypi
promise 2.3 pypi_0 pypi
protobuf 3.20.3 pypi_0 pypi
psutil 5.9.5 pypi_0 pypi
pyasn1 0.5.0 pypi_0 pypi
pyasn1-modules 0.3.0 pypi_0 pypi
pyrsistent 0.19.3 pypi_0 pypi
python 3.8.13 haa1d7c7_1
pyvirtualdisplay 3.0 pypi_0 pypi
pyyaml 6.0 pypi_0 pypi
ray 1.13.0 pypi_0 pypi
readline 8.2 h5eee18b_0
requests 2.28.2 pypi_0 pypi
requests-oauthlib 1.3.1 pypi_0 pypi
rl-games 1.6.0 pypi_0 pypi
rsa 4.9 pypi_0 pypi
scipy 1.10.1 pypi_0 pypi
sentry-sdk 1.20.0 pypi_0 pypi
setproctitle 1.3.2 pypi_0 pypi
setuptools 66.0.0 py38h06a4308_0
shortuuid 1.0.11 pypi_0 pypi
six 1.16.0 pypi_0 pypi
smmap 5.0.0 pypi_0 pypi
sqlite 3.41.2 h5eee18b_0
sympy 1.11.1 pypi_0 pypi
tensorboard 2.11.2 pypi_0 pypi
tensorboard-data-server 0.6.1 pypi_0 pypi
tensorboard-plugin-wit 1.8.1 pypi_0 pypi
tensorboardx 2.6 pypi_0 pypi
termcolor 2.2.0 pypi_0 pypi
tk 8.6.12 h1ccaba5_0
torch 2.0.0 pypi_0 pypi
torchvision 0.15.1 pypi_0 pypi
triton 2.0.0 pypi_0 pypi
typing-extensions 4.5.0 pypi_0 pypi
urllib3 1.26.15 pypi_0 pypi
virtualenv 20.22.0 pypi_0 pypi
wandb 0.12.21 pypi_0 pypi
werkzeug 2.2.3 pypi_0 pypi
wheel 0.38.4 py38h06a4308_0
xz 5.2.10 h5eee18b_1
zipp 3.15.0 pypi_0 pypi
zlib 1.2.13 h5eee18b_0 @generush Hi. I have encountered the same issue. After lots of debugging I find that it is not a bug in rl_games or gym or any other packages, but indeed in humanoid_amp_base.py.
So to fix this issue just simply change the following lines in humanoid_amp_base.py in line 392 from:
def render(self):
if self.viewer and self.camera_follow:
self._update_camera()
super().render()
returnto
def render(self, mode="rgb_array"):
if self.viewer and self.camera_follow:
self._update_camera()
return super().render(mode)Hope this help.