[Bug Report] RmpFlow triggers crash in Isaac Lab 3.0 #4744
Description
If you are submitting a bug report, please fill in the following details and use the tag [bug].
Describe the bug
On develop (Lab 3.0) environments using RMPFlow trigger crashes
Steps to reproduce
To trigger run:
./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0
Which results in:
[INFO]: Completed setting up the environment...
Exception occurred while running the function (persistent mode): type object 'PhysxManager' has no attribute '_get_backend_utils'
Traceback (most recent call last):
File "/workspaces/isaaclab_arena/isaaclab_arena/tests/utils/subprocess.py", line 141, in run_simulation_app_function
test_result = bool(function(simulation_app, **kwargs))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/workspaces/isaaclab_arena/isaaclab_arena/tests/test_place_upright_task.py", line 68, in _test_place_upright_mug_single
env, placeable_obj = get_test_environment(dont_reset_placeable_object_pose=True, num_envs=1)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/workspaces/isaaclab_arena/isaaclab_arena/tests/test_place_upright_task.py", line 58, in get_test_environment
env.reset()
File "/workspaces/isaaclab_arena/submodules/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_env.py", line 369, in reset
self._reset_idx(env_ids)
File "/workspaces/isaaclab_arena/submodules/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 370, in _reset_idx
info = self.action_manager.reset(env_ids)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/workspaces/isaaclab_arena/submodules/IsaacLab/source/isaaclab/isaaclab/managers/action_manager.py", line 371, in reset
term.reset(env_ids=env_ids)
File "/workspaces/isaaclab_arena/submodules/IsaacLab/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_task_space_actions.py", line 193, in reset
self._rmpflow_controller.initialize(self.cfg.articulation_prim_expr)
File "/workspaces/isaaclab_arena/submodules/IsaacLab/source/isaaclab/isaaclab/controllers/rmp_flow.py", line 96, in initialize
robot = SingleArticulation(prim_path)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/isaac-sim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/single_articulation.py", line 94, in __init__
self._backend_utils = SimulationManager._get_backend_utils()
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: type object 'PhysxManager' has no attribute '_get_backend_utils'
System Info
- Commit: 9356002 (on
develop) - Isaac Sim Version: 6.0 (nightly)
- OS: Ubuntu 24.04 (docker)
- GPU: Ada6000
- CUDA: 12.8
- GPU Driver: 580
Additional context
Add any other context about the problem here.
Checklist
- I have checked that there is no similar issue in the repo (required)
- I have checked that the issue is not in running Isaac Sim itself and is related to the repo
Acceptance Criteria
-
--task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0run - Backup: Agibot runs with another controller.