KeyError: 'obs_groups' when running RSL-RL training

[kelly-0919]

Error log:
KeyError: 'obs_groups'
File "rsl_rl/runners/on_policy_runner.py", line 44, in init
self.cfg["obs_groups"] = resolve_obs_groups(obs, self.cfg["obs_groups"], default_sets)

Run:
python scripts/rsl_rl/train.py --task=Tracking-Flat-G1-v0 --registry_name chou43-uw-madison-org/wandb-registry-motions/dance1_subject1 --headless --logger wandb --log_project_name tracking_g1_dance --run_name g1_dance1_subject1_run1

Isaac Sim version:
Name: isaacsim
Version: 5.0.0.0
Summary: A metapackage to manage the Isaac Sim installation
Home-page: https://developer.nvidia.com/isaac-sim
Author: Isaac Sim team
Author-email:
License: NVIDIA Proprietary Software
Location: /home/takuzen/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages
Requires: isaacsim-kernel
Required-by:

Isaac Lab version:
Name: isaaclab
Version: 0.47.1
Summary: Extension providing main framework interfaces and abstractions for robot learning.
Home-page: https://github.com/isaac-sim/IsaacLab
Author: Isaac Lab Project Developers
Author-email:
License: BSD-3-Clause
Location: /home/takuzen/anaconda3/envs/env_isaaclab/lib/python3.11/site-packages
Editable project location: /home/takuzen/IsaacLab/source/isaaclab
Requires: dex-retargeting, einops, flaky, flatdict, gymnasium, hidapi, junitparser, numpy, onnx, pillow, pin-pink, prettytable, pyglet, pytest, pytest-mock, starlette, toml, torch, transformers, trimesh, warp-lang
Required-by:

Has anyone encountered this error before? Greatly appreciated if anyone are willing to help out!

[Nagato-Yukii]

same problem in isaaclab v2.2.1, then changed to isaaclab v2.2.0, problem was solved， both in isaacsim 5.0.0.

[kelly-0919]

same problem in isaaclab v2.2.1, then changed to isaaclab v2.2.0, problem was solved， both in isaacsim 5.0.0.

I tried this combo, but whenever I use Isaac sim v5.0, key error appears. So I changed to Isaac sim v4.5, Isaac lab v2.1.0, then bypass the torch version problem, and it worked.

[Nagato-Yukii]

I tried IsaacLab v2.2.0 with IsaacSim v5.0.0 again just now, I'm using a 5070ti graphics card, it works well.
I referred to this document https://isaac-sim.github.io/IsaacLab/release/2.2.0/source/setup/installation/pip_installation.html.
Then run the command: export PYTHONPATH=/home/ye/whole_body_tracking/source/whole_body_tracking:$PYTHONPATH.

[ysheng777]

I am using Ubuntu 22.04 + RTX 5070, Software: Lab 2.2.1 + Sim 5.0.0 and successfully ran this project, only encountering a warning [isaaclab.utils.math]: The function 'quat_rotate_inverse' is deprecated, and it is recommended to use the faster method 'quat_apply_inverse'. Please switch to 'quat_apply_inverse'.

When I use Ubuntu 22.04 + RTX 5070 + Lab 2.1.0 + Sim 4.5, even though I installed according to the lab documentation, I can run the trajectory, but cannot run this project, and it prompts: torch.fx.experimental.symbolic_shapes.GuardOnDataDependentSymNode:
Could not guard on data-dependent expression Eq(u0,1)

My lab downloads the specific version directly, instead of downloading the master branch and checkout.

[Nagato-Yukii]

I am using Ubuntu 22.04 + RTX 5070, Software: Lab 2.2.1 + Sim 5.0.0 and successfully ran this project, only encountering a warning [isaaclab.utils.math]: The function 'quat_rotate_inverse' is deprecated, and it is recommended to use the faster method 'quat_apply_inverse'. Please switch to 'quat_apply_inverse'.

When I use Ubuntu 22.04 + RTX 5070 + Lab 2.1.0 + Sim 4.5, even though I installed according to the lab documentation, I can run the trajectory, but cannot run this project, and it prompts: torch.fx.experimental.symbolic_shapes.GuardOnDataDependentSymNode: Could not guard on data-dependent expression Eq(u0,1)

My lab downloads the specific version directly, instead of downloading the master branch and checkout.

I encountered the warning about 'quat_apply_inverse' as well. It is safe to ignore or fix by modifying the source code. However, the error in Lab 2.1.0 seems to be a deeper compatibility issue with PyTorch/IsaacLab versions.

[rufan0427]

I tried IsaacLab v2.2.0 with IsaacSim v5.0.0 again just now, I'm using a 5070ti graphics card, it works well. I referred to this document https://isaac-sim.github.io/IsaacLab/release/2.2.0/source/setup/installation/pip_installation.html. Then run the command: export PYTHONPATH=/home/ye/whole_body_tracking/source/whole_body_tracking:$PYTHONPATH.

i am using IsaacLab v2.2.0 with IsaacSim v5.0.0 too (Ubuntu 22.04 LTS + RTX5070 )and installed them referring to the link above.However no matter I ran beyondmimic use ../IsaacLab/isaaclab.sh -p scripts/rsl_rl/train.py --task=Tracking-Flat-G1-v0 --motion_file outputs/dance1_subject2.npz --num_envs=4096 --headless --logger wandb --log_project_name "G1_Tracking_Experiment" --run_name "Dance1_Test_Run"
or ran the examples in the instruction following ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless
there is a shared error existed :"KeyError: 'obs_groups'" , I have tied ./isaaclab.sh -p -m pip install -U "rsl-rl-lib==2.2.0" as this said and it worked. But here are some other mistakes exists too,such as "ValueError: Observations for they key 'rnd_state' not found in infos['observations'].".I found that rsl-rl-lib in v2.3.0 pip install -U "rsl-rl-lib==2.3.0" solved all of the problems!