genesis v0.2.1使用的克隆到本地的可编辑模式安装，报错
(genesis_v021) lby@lby-MS-Terminator-B650M:~/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis$ python locomotion/wheel_legged_eval.py [Taichi] version 1.7.3, llvm 15.0.4, commit 5ec301be, linux, python 3.10.19 Traceback (most recent call last): File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_eval.py", line 7, in <module> from wheel_legged_env import WheelLeggedEnv File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 5, in <module> from genesis.engine.solvers.rigid.rigid_solver_decomp import RigidSolver File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/solvers/__init__.py", line 1, in <module> from .tool_solver import ToolSolver File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/solvers/tool_solver.py", line 4, in <module> from genesis.engine.entities import ToolEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/__init__.py", line 1, in <module> from .avatar_entity import AvatarEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/avatar_entity/__init__.py", line 1, in <module> from .avatar_entity import AvatarEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/avatar_entity/avatar_entity.py", line 3, in <module> from ..rigid_entity import RigidEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/rigid_entity/__init__.py", line 1, in <module> from .rigid_entity import RigidEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/rigid_entity/rigid_entity.py", line 10, in <module> from genesis.utils import terrain as tu File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/utils/terrain.py", line 6, in <module> from genesis.options.morphs import Terrain File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/options/__init__.py", line 2, in <module> from .solvers import * File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/options/solvers.py", line 129, in <module> class RigidOptions(Options): File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/options/solvers.py", line 185, in RigidOptions integrator: gs.integrator = gs.integrator.approximate_implicitfast AttributeError: module 'genesis' has no attribute 'integrator'
genesis v0.3.5使用pip安装报错：
`(genesis_v021) lby@lby-MS-Terminator-B650M:~/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis$ python locomotion/wheel_legged_eval.py
/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
from pkg_resources import resource_stream, resource_exists
pygame 2.6.1 (SDL 2.28.4, Python 3.10.19)
Hello from the pygame community. https://www.pygame.org/contribute.html
[Genesis] [14:13:31] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [14:13:31] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [14:13:31] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [14:13:31] [INFO] Consider setting 'performance_mode=True' in production to maximise runtime speed, if significantly increasing compilation time is not a concern.
[Genesis] [14:13:31] [INFO] Running on [NVIDIA GeForce RTX 5060 Ti] with backend gs.cuda. Device memory: 15.47 GB.
[Genesis] [14:13:31] [INFO] Genesis initialized. version: 0.3.4, seed: None, precision: '32', debug: False, theme: 'dark'.
[Genesis] [14:13:32] [INFO] Scene <305c057> created.
[Genesis] [14:13:32] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <33da902>, morph: <gs.morphs.URDF(file='/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/assets/terrain/plane/plane.urdf')>, material: <gs.materials.Rigid>.
[Genesis] [14:13:32] [INFO] Applying offset to base link's pose with user provided value in morph.
open terrain
[Genesis] [14:13:32] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <1049776>, morph: <gs.morphs.Terrain>, material: <gs.materials.Rigid>.
respawn_points: tensor([[0.0000, 0.0000, 0.7000]], device='cuda:0')
[Genesis] [14:13:32] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <97f010e>, morph: <gs.morphs.URDF(file='/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/assets/urdf/CJ-003/urdf/CJ-003-wheelfoot.urdf')>, material: <gs.materials.Rigid>.
[Genesis] [14:13:33] [INFO] Applying offset to base link's pose with user provided value in morph.
[Genesis] [14:13:34] [INFO] Collision mesh is not watertight and has ill-defined volume. It will be repaired by removing duplicate faces.
[Genesis] [14:13:35] [INFO] Building scene <305c057>...
[Genesis] [14:13:39] [INFO] Compiling simulation kernels...
[Genesis] [14:13:46] [INFO] Building visualizer...
[Genesis] [14:14:02] [INFO] Viewer created. Resolution: 720×540, max_FPS: 100.
Traceback (most recent call last):
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_eval.py", line 87, in
main()
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_eval.py", line 36, in main
env = WheelLeggedEnv(
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 352, in init
self.reset()
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 604, in reset
self.reset_idx(torch.arange(self.num_envs, device=self.device))
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 596, in reset_idx
self.domain_rand(envs_idx)
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 658, in domain_rand
self.robot.set_dofs_armature(armature=armature,
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/utils/misc.py", line 150, in wrapper
return method(self, *args, **kwargs)
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 2163, in set_dofs_armature
self._solver.set_dofs_armature(armature, dofs_idx, envs_idx, unsafe=unsafe)
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 1915, in set_dofs_armature
self._set_dofs_info([armature], dofs_idx, "armature", envs_idx, unsafe=unsafe)
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 1887, in _set_dofs_info
self._init_invweight_and_meaninertia(envs_idx=envs_idx, force_update=True, unsafe=unsafe)
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 307, in _init_invweight_and_meaninertia
gs.raise_exception(
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/utils/misc.py", line 42, in raise_exception
raise gs.GenesisException(msg)
genesis.GenesisException: Links and dofs must be batched to selectively update invweight and meaninertia for some environment.
[Genesis] [14:14:02] [ERROR] GenesisException: Links and dofs must be batched to selectively update invweight and meaninertia for some environment.
[Genesis] [14:14:02] [INFO] Exiting Genesis and caching compiled kernels...`
genesis v0.2.1使用的克隆到本地的可编辑模式安装，报错
(genesis_v021) lby@lby-MS-Terminator-B650M:~/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis$ python locomotion/wheel_legged_eval.py [Taichi] version 1.7.3, llvm 15.0.4, commit 5ec301be, linux, python 3.10.19 Traceback (most recent call last): File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_eval.py", line 7, in <module> from wheel_legged_env import WheelLeggedEnv File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 5, in <module> from genesis.engine.solvers.rigid.rigid_solver_decomp import RigidSolver File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/solvers/__init__.py", line 1, in <module> from .tool_solver import ToolSolver File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/solvers/tool_solver.py", line 4, in <module> from genesis.engine.entities import ToolEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/__init__.py", line 1, in <module> from .avatar_entity import AvatarEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/avatar_entity/__init__.py", line 1, in <module> from .avatar_entity import AvatarEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/avatar_entity/avatar_entity.py", line 3, in <module> from ..rigid_entity import RigidEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/rigid_entity/__init__.py", line 1, in <module> from .rigid_entity import RigidEntity File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/engine/entities/rigid_entity/rigid_entity.py", line 10, in <module> from genesis.utils import terrain as tu File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/utils/terrain.py", line 6, in <module> from genesis.options.morphs import Terrain File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/options/__init__.py", line 2, in <module> from .solvers import * File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/options/solvers.py", line 129, in <module> class RigidOptions(Options): File "/home/lby/simulation_workspace/genesis_workspace/genesis_versions/V021/Genesis/genesis/options/solvers.py", line 185, in RigidOptions integrator: gs.integrator = gs.integrator.approximate_implicitfast AttributeError: module 'genesis' has no attribute 'integrator'genesis v0.3.5使用pip安装报错：
`(genesis_v021) lby@lby-MS-Terminator-B650M:~/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis$ python locomotion/wheel_legged_eval.py
/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
from pkg_resources import resource_stream, resource_exists
pygame 2.6.1 (SDL 2.28.4, Python 3.10.19)
Hello from the pygame community. https://www.pygame.org/contribute.html
[Genesis] [14:13:31] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [14:13:31] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [14:13:31] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [14:13:31] [INFO] Consider setting 'performance_mode=True' in production to maximise runtime speed, if significantly increasing compilation time is not a concern.
[Genesis] [14:13:31] [INFO] Running on [NVIDIA GeForce RTX 5060 Ti] with backend gs.cuda. Device memory: 15.47 GB.
[Genesis] [14:13:31] [INFO] Genesis initialized. version: 0.3.4, seed: None, precision: '32', debug: False, theme: 'dark'.
[Genesis] [14:13:32] [INFO] Scene <305c057> created.
[Genesis] [14:13:32] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <33da902>, morph: <gs.morphs.URDF(file='/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/assets/terrain/plane/plane.urdf')>, material: <gs.materials.Rigid>.
[Genesis] [14:13:32] [INFO] Applying offset to base link's pose with user provided value in morph.
open terrain
[Genesis] [14:13:32] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <1049776>, morph: <gs.morphs.Terrain>, material: <gs.materials.Rigid>.
respawn_points: tensor([[0.0000, 0.0000, 0.7000]], device='cuda:0')
[Genesis] [14:13:32] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <97f010e>, morph: <gs.morphs.URDF(file='/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/assets/urdf/CJ-003/urdf/CJ-003-wheelfoot.urdf')>, material: <gs.materials.Rigid>.
[Genesis] [14:13:33] [INFO] Applying offset to base link's pose with user provided value in morph.
[Genesis] [14:13:34] [INFO] Collision mesh is not watertight and has ill-defined volume. It will be repaired by removing duplicate faces.
[Genesis] [14:13:35] [INFO] Building scene <305c057>...
[Genesis] [14:13:39] [INFO] Compiling simulation kernels...
[Genesis] [14:13:46] [INFO] Building visualizer...
[Genesis] [14:14:02] [INFO] Viewer created. Resolution: 720×540, max_FPS: 100.
Traceback (most recent call last):
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_eval.py", line 87, in
main()
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_eval.py", line 36, in main
env = WheelLeggedEnv(
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 352, in init
self.reset()
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 604, in reset
self.reset_idx(torch.arange(self.num_envs, device=self.device))
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 596, in reset_idx
self.domain_rand(envs_idx)
File "/home/lby/simulation_workspace/genesis_workspace/rl_workspace/wheel_legged_genesis/locomotion/wheel_legged_env.py", line 658, in domain_rand
self.robot.set_dofs_armature(armature=armature,
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/utils/misc.py", line 150, in wrapper
return method(self, *args, **kwargs)
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 2163, in set_dofs_armature
self._solver.set_dofs_armature(armature, dofs_idx, envs_idx, unsafe=unsafe)
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 1915, in set_dofs_armature
self._set_dofs_info([armature], dofs_idx, "armature", envs_idx, unsafe=unsafe)
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 1887, in _set_dofs_info
self._init_invweight_and_meaninertia(envs_idx=envs_idx, force_update=True, unsafe=unsafe)
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 307, in _init_invweight_and_meaninertia
gs.raise_exception(
File "/home/lby/anaconda3/envs/genesis_v021/lib/python3.10/site-packages/genesis/utils/misc.py", line 42, in raise_exception
raise gs.GenesisException(msg)
genesis.GenesisException: Links and dofs must be batched to selectively update invweight and meaninertia for some environment.
[Genesis] [14:14:02] [ERROR] GenesisException: Links and dofs must be batched to selectively update invweight and meaninertia for some environment.
[Genesis] [14:14:02] [INFO] Exiting Genesis and caching compiled kernels...`