Error running "python train.py task=Hover total_frames=100_000_000 eval_interval=60 headless=true"

[JJJJJllll]

Hi there, I hope it finds you well.
I'm using Issac Sim 2023.1.1. I followed through your instructions on Installation and successfully came to "Running the RL Scripts".
I can run python train.py task=Hover headless=true and see results on wandb.
but I can‘t run python train.py task=Hover total_frames=100_000_000 eval_interval=60 headless=true
the error message is:

2024-02-26 12:44:35 [534,839ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_1237/Firefly_0/rotor_4
2024-02-26 12:44:35 [534,839ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_124/Firefly_0/rotor_4
2024-02-26 12:44:35 [534,839ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_2141/Firefly_0/rotor_4
2024-02-26 12:44:35 [534,839ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_1242/Firefly_0/rotor_4
2024-02-26 12:44:35 [534,843ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpArticulationLink.cpp, LINE 343
2024-02-26 12:44:35 [534,843ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpArticulationLink.cpp, LINE 343
2024-02-26 12:44:35 [534,843ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpArticulationLink.cpp, LINE 343
2024-02-26 12:44:36 [535,909ms] [Error] [omni.physx.tensors.plugin] GPU tensor function getRootTransforms can only be called after at least one simulation step was performed!

Can you help me with it?

[btx0424]

Hi there. I believe Isaac Sim 2023.1.0 (hotfix or not) does not have this issue. I recommend not using Isaac Sim 2023.1.1 for now. I will look into the problem and get back to you.

[JJJJJllll]

Thanks! I'll try Isaac Sim 2023.1.0.

[kisisjrlly]

set prepare_contact_sensors to false in RigidPrimView init