LyuJZ

I tried to create a wrapper based on this [template](https://github.com/NVIDIA-Omniverse/Orbit/blob/main/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/sb3.py). The following is my code ```python import isaacgym from isaacgymenvs.tasks.base.vec_task import VecTask from isaacgymenvs.tasks.kuka_reaching import KukaReaching import hydra from omegaconf...

The error seems from `self.get_attr("render_mode")`. The full traceback is ``` Traceback (most recent call last): File "/src/handover-kuka-reaching/wrappers.py", line 519, in launch_rlg_hydra sb3Env = Sb3VecEnvWrapper(envs) File "/src/handover-rl/kuka-reaching/wrappers.py", line 325, in __init__...

I found the problems. It is because I redefine abstract methods. Now I changed these abstract methods as follow: ```python def step_async(self, actions): # noqa: D102 self._async_actions = actions def...

Is it possible to give one example to wrap IsaacGym VecEnv into sb3 VecEnv?

I revised the code a little bit and now it works! Thanks a lot

Same error!

I used the latest IsaacLab, and found that the self.sim.render() takes too long (5 seconds). Any comments?

Hi @luisenp , that's all right! In the `torch.inference_mode()`, there are no errors. However, from the output of `layer.forward(input_dict, optimizer_kwargs={"track_best_solution": True, "verbose": True, "ellipsoidal_damping": True})`, it says there are only...