RuntimeError: CUDA error: device-side assert triggered

[edpsw]

Previously, the code was able to run normally, but after resolving the issue of gpu device failure after Ubuntu reboot, the following actions were taken: 1. Reinstall the graphics card driver, 2. Fix the dkms kernel, and 3. Turn off Ubuntu security mode. Afterwards, the problem occurred

CUDA error: device-side assert triggered
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/envs/h1/h1_mimic.py", line 404, in update_demo_obs
    self._curr_demo_keybody[:] = local_key_body_pos[:, self._key_body_ids_sim_subset].view(self.num_envs, self._motion_num_future_steps, self._num_key_bodies, 3)[:, 0, :, :]
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/envs/h1/h1_mimic.py", line 344, in post_physics_step
    self.update_demo_obs()
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/envs/h1/h1_mimic.py", line 61, in __init__
    self.post_physics_step()
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/utils/task_registry.py", line 98, in make_env
    env = task_class(   cfg=env_cfg,
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/scripts/train.py", line 71, in train
    env, env_cfg = task_registry.make_env(name=args.task, args=args)
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/scripts/train.py", line 78, in <module>
    train(args)
RuntimeError: CUDA error: device-side assert triggered

Running display on CPU, index out of bounds,

Exception has occurred: IndexError
index 8 is out of bounds for dimension 0 with size 4
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/envs/h1/h1_mimic.py", line 404, in update_demo_obs
    self._curr_demo_keybody[:] = local_key_body_pos[:, self._key_body_ids_sim_subset].view(self.num_envs, self._motion_num_future_steps, self._num_key_bodies, 3)[:, 0, :, :]
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/envs/h1/h1_mimic.py", line 344, in post_physics_step
    self.update_demo_obs()
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/envs/h1/h1_mimic.py", line 61, in __init__
    self.post_physics_step()
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/utils/task_registry.py", line 98, in make_env
    env = task_class(   cfg=env_cfg,
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/scripts/train.py", line 71, in train
    env, env_cfg = task_registry.make_env(name=args.task, args=args)
  File "/home/mycode/exp-humanoid/legged_gym/legged_gym/scripts/train.py", line 78, in <module>
    train(args)
IndexError: index 8 is out of bounds for dimension 0 with size 4