Can not train/evaluate with --video option

[mscwu]

First of all, thank you for open sourcing COMPASS.

When I try to run train/evaluate script with --video option on, I get the following error:

logger.warn( Traceback (most recent call last): File "/home/ww/COMPASS/run.py", line 289, in <module> main() File "/home/ww/COMPASS/run.py", line 284, in main run() File "/home/ww/env_isaaclab/lib/python3.10/site-packages/gin/config.py", line 1605, in gin_wrapper utils.augment_exception_message_and_reraise(e, err_str) File "/home/ww/env_isaaclab/lib/python3.10/site-packages/gin/utils.py", line 41, in augment_exception_message_and_reraise raise proxy.with_traceback(exception.__traceback__) from None File "/home/ww/env_isaaclab/lib/python3.10/site-packages/gin/config.py", line 1582, in gin_wrapper return fn(*new_args, **new_kwargs) File "/home/ww/COMPASS/run.py", line 236, in run rl_trainer = ResidualPPOTrainer(env=env, File "/home/ww/env_isaaclab/lib/python3.10/site-packages/gin/config.py", line 1605, in gin_wrapper utils.augment_exception_message_and_reraise(e, err_str) File "/home/ww/env_isaaclab/lib/python3.10/site-packages/gin/utils.py", line 41, in augment_exception_message_and_reraise raise proxy.with_traceback(exception.__traceback__) from None File "/home/ww/env_isaaclab/lib/python3.10/site-packages/gin/config.py", line 1582, in gin_wrapper return fn(*new_args, **new_kwargs) File "/home/ww/COMPASS/compass/residual_rl/residual_ppo_trainer.py", line 75, in __init__ self.alg.init_storage(self.env.num_envs, AttributeError: 'RecordVideo' object has no attribute 'num_envs' In call to configurable 'ResidualPPOTrainer' (<class 'compass.residual_rl.residual_ppo_trainer.ResidualPPOTrainer'>) In call to configurable 'run' (<function run at 0x7df80bf3b6d0>)

COMPASS/run.py

Line 232 in 0886e8c

env = gym.wrappers.RecordVideo(env, **video_kwargs)

It seems like RecordVideo wrapper makes env non-vectorized.

I can finish training when video option is off.

Any help on this issue?

BTW I changed the code to make compass work with the latest Isaac Lab and Isaac Sim 4.5. For example changing module imports from "omni.isaac.lab.xxx" to " isaaclab.xxx". I'm not sure if this would affect run.py.

[nv-liuw]

Hi @mscwu, thanks for reporting the issue.

It's likely because the isaac lab & sim version mismatch, the current version only supports Isaac Lab 1.3 with Isaac Sim 4.2, and we're planning to upgrade to Isaac Lab 2.0 and Isaac Sim 4.5 soon with some updates on the imports and env wrapper, that should fix this issue.