URDF Parse Error

[CybDing]

When loading URDF file with prismatic joint, the following error appears:

self._load_URDF(self._morph, self._surface)
l_infos, j_infos, equalities = uu.parse_urdf(morph, surface)
[Genesis] [00:46:03] [ERROR] UnboundLocalError: cannot access local variable 'scale' where it is not associated with a value

It appears only to be the problem when I put in the prismatic joints, and the parsing does not work.

Here are the URDF code I added when the error emerged:

Does anyone know how can I fix it?

[duburcqa]

Could you report the complete traceback here?

[CybDing]

Traceback (most recent call last):
line 280, in
env.start(show_camera=True, show_interact_viewer=False)
File "/Users/ding/Desktop/deep-rl/proj_gene/ILDP/genesis_ILDP/env/pushT_env.py", line 103, in start
self.plane : gs.engine.entities.RigidEntity = self.scene.add_entity(
^^^^^^^^^^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/utils/misc.py", line 62, in wrapper
return method(self, *args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/scene.py", line 357, in add_entity
entity = self._sim._add_entity(morph, material, surface, visualize_contact)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/simulator.py", line 134, in _add_entity
entity = self.rigid_solver.add_entity(self.n_entities, material, morph, surface, visualize_contact)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 107, in add_entity
entity = entity_class(
^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/entities/rigid_entity/rigid_entity.py", line 81, in init
self._load_model()
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/entities/rigid_entity/rigid_entity.py", line 93, in _load_model
self._load_URDF(self._morph, self._surface)
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/entities/rigid_entity/rigid_entity.py", line 383, in _load_URDF
l_infos, j_infos, equalities = uu.parse_urdf(morph, surface)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

[Genesis] [01:23:19] [ERROR] UnboundLocalError: cannot access local variable 'scale' where it is not associated with a value

[duburcqa]

Part of the traceback is still missing.

[CybDing]

Sorry, here is the full version.
objc[62932]: Class GLFWHelper is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e04570) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/glfw/libglfw.3.dylib (0x35dd1dbb8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[62932]: Class GLFWApplicationDelegate is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e045c0) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/glfw/libglfw.3.dylib (0x35dd1dc08). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[62932]: Class GLFWWindowDelegate is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e045e8) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/glfw/libglfw.3.dylib (0x35dd1dc30). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[62932]: Class GLFWContentView is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e04638) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/glfw/libglfw.3.dylib (0x35dd1dc80). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[62932]: Class GLFWWindow is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e046b0) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/glfw/libglfw.3.dylib (0x35dd1dcf8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
[Genesis] [01:30:40] [INFO] ╭───────────────────────────────────────────────────────────────────╮
[Genesis] [01:30:40] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
[Genesis] [01:30:40] [INFO] ╰───────────────────────────────────────────────────────────────────╯
[Genesis] [01:30:40] [INFO] Running on [Apple M4] with backend gs.metal. Device memory: 24.00 GB.
[Genesis] [01:30:40] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.1, 🌱 seed: 20453, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [01:30:41] [INFO] Scene <9d74e02> created.
[Genesis] [01:30:41] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <46b110a>, morph: <gs.morphs.URDF(file='/Users/ding/Desktop/deep-rl/proj_gene/ILDP/genesis_ILDP/assets/roboticArms/urdf/plane.urdf')>, material: <gs.materials.Rigid>.
Traceback (most recent call last):
File "/Users/ding/Desktop/deep-rl/proj_gene/ILDP/genesis_ILDP/env/pushT_env.py", line 280, in
env.start(show_camera=True, show_interact_viewer=False)
File "/Users/ding/Desktop/deep-rl/proj_gene/ILDP/genesis_ILDP/env/pushT_env.py", line 103, in start
self.plane : gs.engine.entities.RigidEntity = self.scene.add_entity(
^^^^^^^^^^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/utils/misc.py", line 62, in wrapper
return method(self, *args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/scene.py", line 357, in add_entity
entity = self._sim._add_entity(morph, material, surface, visualize_contact)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/simulator.py", line 134, in _add_entity
entity = self.rigid_solver.add_entity(self.n_entities, material, morph, surface, visualize_contact)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 107, in add_entity
entity = entity_class(
^^^^^^^^^^^^^
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/entities/rigid_entity/rigid_entity.py", line 81, in init
self._load_model()
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/entities/rigid_entity/rigid_entity.py", line 93, in _load_model
self._load_URDF(self._morph, self._surface)
File "/Users/ding/Desktop/deep-rl/Genesis/genesis/engine/entities/rigid_entity/rigid_entity.py", line 383, in _load_URDF
l_infos, j_infos, equalities = uu.parse_urdf(morph, surface)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

[Genesis] [01:30:41] [ERROR] UnboundLocalError: cannot access local variable 'scale' where it is not associated with a value
[Genesis] [01:30:41] [INFO] 💤 Exiting Genesis and caching compiled kernels...

[duburcqa]

This is surprising, the error messages is referring to some "scale" variable but I cannot find any other reference to it in the traceback...

[CybDing]

yep, and I just checked my code for env, and there's no local variable called scale...

[duburcqa]

Something is wrong… could you try installing again the main branch following the readme instructions ?

[CybDing]

Sure, I would try it later, should I use the developer mode to install the latest version available, and give another try? I pulled the code down about one month ago.

[duburcqa]

Either developper / editable mode, or just pip install from URL. But do not forgot to uninstall first!