When running any training scripts on the RSL RL Framework, such as the one from the installation guide
python scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless
it errors ValueError: Reference at 'refs/heads/master' does not exist (see complete errors below).
Other libraries such as RL_Games, SKRL and SB3 work just fine.
(isaaclab_2) C:\IsaacLab2\IsaacLab>python scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless
[INFO][AppLauncher]: Loading experience file: C:\IsaacLab2\IsaacLab\apps\isaaclab.python.headless.kit
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: 'c:/users/murme/miniconda3/envs/isaaclab_2/lib/site-packages/omni/data/Kit/Isaac-Sim/4.5/user.config.json'
[Info] [carb] Logging to file: c:/users/murme/miniconda3/envs/isaaclab_2/lib/site-packages/omni/logs/Kit/Isaac-Sim/4.5/kit_20250209_155810.log
2025-02-09 14:58:10 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
2025-02-09 14:58:10 [405ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
2025-02-09 14:58:11 [985ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action
is needed from end-users.
|---------------------------------------------------------------------------------------------|
| Driver Version: 537.58 | Graphics API: D3D12
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 3090 | Yes: 0 | | 24340 MB | 10de | 0bde0000.. |
| | | | | | 2204 | 0 |
| | | | | | 2b | |
|=============================================================================================|
| OS: Windows 10 Home, Version: 10.0 (22H2), Build: 19045, Kernel: 10.0.19041.5369
| Processor: AMD Ryzen 5 5600X 6-Core Processor
| Cores: 6 | Logical Cores: 12
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 32694 | Free Memory: 15726
| Total Page/Swap (MB): 50090 | Free Page/Swap: 15773
|---------------------------------------------------------------------------------------------|
[INFO]: Parsing configuration from: isaaclab_tasks.manager_based.classic.ant.ant_env_cfg:AntEnvCfg
[INFO]: Parsing configuration from: isaaclab_tasks.manager_based.classic.ant.agents.rsl_rl_ppo_cfg:AntPPORunnerCfg
[INFO] Logging experiment in directory: C:\IsaacLab2\IsaacLab\logs\rsl_rl\ant
Exact experiment name requested from command line: 2025-02-09_15-58-16
Setting seed: 42
[INFO]: Base environment:
Environment device : cuda:0
Environment seed : 42
Physics step-size : 0.008333333333333333
Rendering step-size : 0.016666666666666666
Environment step-size : 0.016666666666666666
[INFO]: Time taken for scene creation : 2.988643 seconds
[INFO]: Scene manager: <class InteractiveScene>
Number of environments: 4096
Environment spacing : 5.0
Source prim name : /World/envs/env_0
Global prim paths : ['/World/ground']
Replicate physics : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
[INFO]: Time taken for simulation start : 1.622173 seconds
[INFO] Command Manager: <CommandManager> contains 0 active terms.
+------------------------+
| Active Command Terms |
+--------+-------+-------+
| Index | Name | Type |
+--------+-------+-------+
+--------+-------+-------+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
+---------------------+
| Active Recorder Terms |
+-----------+---------+
| Index | Name |
+-----------+---------+
+-----------+---------+
[INFO] Action Manager: <ActionManager> contains 1 active terms.
+----------------------------------+
| Active Action Terms (shape: 8) |
+-------+--------------+-----------+
| Index | Name | Dimension |
+-------+--------------+-----------+
| 0 | joint_effort | 8 |
+-------+--------------+-----------+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+-----------------------------------------------------------+
| Active Observation Terms in Group: 'policy' (shape: (60,)) |
+-----------+-----------------------------------+-----------+
| Index | Name | Shape |
+-----------+-----------------------------------+-----------+
| 0 | base_height | (1,) |
| 1 | base_lin_vel | (3,) |
| 2 | base_ang_vel | (3,) |
| 3 | base_yaw_roll | (2,) |
| 4 | base_angle_to_target | (1,) |
| 5 | base_up_proj | (1,) |
| 6 | base_heading_proj | (1,) |
| 7 | joint_pos_norm | (8,) |
| 8 | joint_vel_rel | (8,) |
| 9 | feet_body_forces | (24,) |
| 10 | actions | (8,) |
+-----------+-----------------------------------+-----------+
[INFO] Event Manager: <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+---------+---------------------------+
| Index | Name |
+---------+---------------------------+
| 0 | reset_base |
| 1 | reset_robot_joints |
+---------+---------------------------+
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
+---------------------------------+
| Active Termination Terms |
+-------+--------------+----------+
| Index | Name | Time Out |
+-------+--------------+----------+
| 0 | time_out | True |
| 1 | torso_height | False |
+-------+--------------+----------+
[INFO] Reward Manager: <RewardManager> contains 7 active terms.
+---------------------------------+
| Active Reward Terms |
+-------+----------------+--------+
| Index | Name | Weight |
+-------+----------------+--------+
| 0 | progress | 1.0 |
| 1 | alive | 0.5 |
| 2 | upright | 0.1 |
| 3 | move_to_target | 0.5 |
| 4 | action_l2 | -0.005 |
| 5 | energy | -0.05 |
| 6 | joint_limits | -0.1 |
+-------+----------------+--------+
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
+----------------------+
| Active Curriculum Terms |
+-----------+----------+
| Index | Name |
+-----------+----------+
+-----------+----------+
[INFO]: Completed setting up the environment...
Actor MLP: Sequential(
(0): Linear(in_features=60, out_features=400, bias=True)
(1): ELU(alpha=1.0)
(2): Linear(in_features=400, out_features=200, bias=True)
(3): ELU(alpha=1.0)
(4): Linear(in_features=200, out_features=100, bias=True)
(5): ELU(alpha=1.0)
(6): Linear(in_features=100, out_features=8, bias=True)
)
Critic MLP: Sequential(
(0): Linear(in_features=60, out_features=400, bias=True)
(1): ELU(alpha=1.0)
(2): Linear(in_features=400, out_features=200, bias=True)
(3): ELU(alpha=1.0)
(4): Linear(in_features=200, out_features=100, bias=True)
(5): ELU(alpha=1.0)
(6): Linear(in_features=100, out_features=1, bias=True)
)
################################################################################
Learning iteration 0/1000
Computation: 51070 steps/s (collection: 2.371s, learning 0.196s)
Value function loss: 0.0397
Surrogate loss: -0.0088
Mean action noise std: 0.99
Mean reward: -0.46
Mean episode length: 19.68
Episode_Reward/progress: 0.0016
Episode_Reward/alive: 0.0086
Episode_Reward/upright: 0.0016
Episode_Reward/move_to_target: 0.0085
Episode_Reward/action_l2: -0.0007
Episode_Reward/energy: -0.0406
Episode_Reward/joint_limits: -0.0025
Episode_Termination/time_out: 3.8125
Episode_Termination/torso_height: 0.0312
--------------------------------------------------------------------------------
Total timesteps: 131072
Iteration time: 2.57s
Total time: 2.57s
ETA: 2566.5s
Error executing job with overrides: []
Traceback (most recent call last):
File "c:/isaaclab2/isaaclab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main
func(env_cfg, agent_cfg, *args, **kwargs)
File "C:\IsaacLab2\IsaacLab\scripts\reinforcement_learning\rsl_rl\train.py", line 145, in main
runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)
File "C:\Users\murme\miniconda3\envs\isaaclab_2\lib\site-packages\rsl_rl\runners\on_policy_runner.py", line 165, in learn
git_file_paths = store_code_state(self.log_dir, self.git_status_repos)
File "C:\Users\murme\miniconda3\envs\isaaclab_2\lib\site-packages\rsl_rl\utils\utils.py", line 76, in store_code_state
t = repo.head.commit.tree
File "C:\Users\murme\miniconda3\envs\isaaclab_2\lib\site-packages\git\refs\symbolic.py", line 297, in _get_commit
obj = self._get_object()
File "C:\Users\murme\miniconda3\envs\isaaclab_2\lib\site-packages\git\refs\symbolic.py", line 288, in _get_object
return Object.new_from_sha(self.repo, hex_to_bin(self.dereference_recursive(self.repo, self.path)))
File "C:\Users\murme\miniconda3\envs\isaaclab_2\lib\site-packages\git\refs\symbolic.py", line 168, in dereference_recursive
hexsha, ref_path = cls._get_ref_info(repo, ref_path)
File "C:\Users\murme\miniconda3\envs\isaaclab_2\lib\site-packages\git\refs\symbolic.py", line 278, in _get_ref_info
return cls._get_ref_info_helper(repo, ref_path)
File "C:\Users\murme\miniconda3\envs\isaaclab_2\lib\site-packages\git\refs\symbolic.py", line 257, in _get_ref_info_helper
raise ValueError("Reference at %r does not exist" % ref_path)
ValueError: Reference at 'refs/heads/master' does not exist
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
2025-02-09 14:58:27 [16,888ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2025-02-09 14:58:27 [17,062ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
I have tried other libraries and bunch of examples, and only all the training scripts containing RSL RL don't work. This was also the case before the update on the 08.02.25 - "Switches to RSL-RL install from PyPI".
I have also tried to switch to master branch as the error indicated "ValueError: Reference at 'refs/heads/master' does not exist" and the same happened on CUDA 12.8 with driver version 552.86 before downgrading.
Describe the bug
When running any training scripts on the RSL RL Framework, such as the one from the installation guide
python scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headlessit errors
ValueError: Reference at 'refs/heads/master' does not exist(see complete errors below).Other libraries such as RL_Games, SKRL and SB3 work just fine.
Steps to reproduce
Following the pip installation on
https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/pip_installation.htmlSystem Info
Describe the characteristic of your environment:
Additional context
I have tried other libraries and bunch of examples, and only all the training scripts containing RSL RL don't work. This was also the case before the update on the 08.02.25 - "Switches to RSL-RL install from PyPI".
I have also tried to switch to master branch as the error indicated "ValueError: Reference at 'refs/heads/master' does not exist" and the same happened on CUDA 12.8 with driver version 552.86 before downgrading.
Checklist
Acceptance Criteria
Add the criteria for which this task is considered done. If not known at issue creation time, you can add this once the issue is assigned.