Have trouble running the pretrained policy

I finished setting up the envirment and run the code
python3 train.py wandb_activate=false num_envs=1 headless=false test=true task=LeapHandRot checkpoint=runs/pretrained/nn/LeapHand.pth
and then error ocurred :
FileNotFoundError: [Errno 2] No such file or directory: 'cache/leap_hand_in_palm_cube_grasp_50k_s095.npy'
How can I fix it?

Hi @RyanJiao

Thanks for pointing this out! We just pushed the grasp cache, please check the most recent commit 0e9f0a3. This should hopefully fix the issue.

Thank you so much for sharing such a good project! This should help fix my problem. But I’d like to ask if you have ever encountered such faults during training in Isaac gym: pxgcudadevicememoryallocator fail to allocate memory 67108864 bytes!! result = 2 It will be really nice if you can give me any hints on it.  Many thanks!

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------------------ Original ------------------ From: leap-hand ***@***.***> Date: Tue,Sep 19,2023 0:28 AM To: leap-hand/LEAP_Hand_Sim ***@***.***> Cc: Ryan Jiao ***@***.***>, Mention ***@***.***> Subject: Re: [leap-hand/LEAP_Hand_Sim] Have trouble running the pretrainedpolicy (Issue #1) Hi @RyanJiao Thanks for pointing this out! We just pushed the grasp cache. This should hopefully fix the issue. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: ***@***.***>

What GPU are you using to run the code? Seems like the vRAM might not be enough. You can try running on CPU by specifying pipeline=cpu.

python3 deploy.py wandb_activate=false num_envs=1 headless=false test=true task=LeapHandRot checkpoint=runs/pretrained/nn/LeapHand.pth pipeline=cpu

Another thing to try is to turn off VHACD here (just change True to False)

LEAP_Hand_Sim/leapsim/tasks/leap_hand_rot.py

Line 981 in 0e9f0a3

hand_asset_options.vhacd_enabled = True

Hi! while excuting this: I encountered a new fault. Do you any clue to solve this? Thanks again for your help! for cube_scale in 0.9 0.95 1.0 1.05 1.1 do bash scripts/gen_grasp.sh $cube_scale custom_grasp_cache num_envs=1024 done 焦睿轩 ***@***.***  

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------------------ 原始邮件 ------------------ 发件人: "leap-hand/LEAP_Hand_Sim" ***@***.***>; 发送时间: 2023年9月19日(星期二) 凌晨3:24 ***@***.***>; ***@***.******@***.***>; 主题: Re: [leap-hand/LEAP_Hand_Sim] Have trouble running the pretrained policy (Issue #1) What GPU are you using to run the code? Seems like the vRAM might not be enough. You can try running on CPU by specifying pipeline=cpu. python3 deploy.py wandb_activate=false num_envs=1 headless=false test=true task=LeapHandRot checkpoint=runs/pretrained/nn/LeapHand.pth pipeline=cpu Another thing could be to turn off VHACD here (just change True to False) https://github.com/leap-hand/LEAP_Hand_Sim/blob/0e9f0a3de7f38281f71ba88e5dade4d6a6586dac/leapsim/tasks/leap_hand_rot.py#L981 — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: ***@***.***>

Hi! I only have a RTX3060 with 6GB memory, I run the pretrained policy by reducing the minibatch_size to 1 with num_envs=1, I wander if I can sucessfully train any policy on my RTX3060, If it can't make it, I will change my graphcard.  Many thanks! 焦睿轩 ***@***.***  

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------------------ 原始邮件 ------------------ 发件人: "leap-hand/LEAP_Hand_Sim" ***@***.***>; 发送时间: 2023年9月19日(星期二) 凌晨2:25 ***@***.***>; ***@***.******@***.***>; 主题: Re: [leap-hand/LEAP_Hand_Sim] Have trouble running the pretrained policy (Issue #1) Hi @RyanJiao I think you have an out of memory error, we used a RTX 3090 with 24GB vRAM. I would suggest you try decreasing the number of parallel environments in the yaml file. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: ***@***.***>

Hi! while excuting this: I encountered a new fault. Do you any clue to solve this? Thanks again for your help! for cube_scale in 0.9 0.95 1.0 1.05 1.1 do bash scripts/gen_grasp.sh $cube_scale custom_grasp_cache num_envs=1024 done 焦睿轩 @.***
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------------------ 原始邮件 ------------------ 发件人: "leap-hand/LEAP_Hand_Sim" @.>; 发送时间: 2023年9月19日(星期二) 凌晨3:24 @.>; @.@.>; 主题: Re: [leap-hand/LEAP_Hand_Sim] Have trouble running the pretrained policy (Issue #1) What GPU are you using to run the code? Seems like the vRAM might not be enough. You can try running on CPU by specifying pipeline=cpu. python3 deploy.py wandb_activate=false num_envs=1 headless=false test=true task=LeapHandRot checkpoint=runs/pretrained/nn/LeapHand.pth pipeline=cpu Another thing could be to turn off VHACD here (just change True to False)

LEAP_Hand_Sim/leapsim/tasks/leap_hand_rot.py

Line 981 in 0e9f0a3

hand_asset_options.vhacd_enabled = True

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: @.***>

Hi, could you please comment directly on GitHub instead of through email? I think the image you sent was not included.

OK！ This problem had been solved, Thank you!

好的！这个问题已经解决了，谢谢！

I am also trying to solve this problem. My launch file works well, but my deploy file does not. Can we talk about it together? Thank you