TypeError: is_alive() got an unexpected keyword argument 'asset_cfg'

[airrain]

python scripts/rsl_rl/train.py --headless --task Unitree-G1-29dof-Velocity

Error executing job with overrides: []
Traceback (most recent call last):
File "/home/air/projects/IsaacLab-main/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main
func(env_cfg, agent_cfg, *args, **kwargs)
File "/home/air/projects/unitree_rl_lab/scripts/rsl_rl/train.py", line 204, in main
runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)
File "/home/air/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/rsl_rl/runners/on_policy_runner.py", line 206, in learn
obs, rewards, dones, infos = self.env.step(actions.to(self.env.device))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/air/projects/IsaacLab-main/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py", line 176, in step
obs_dict, rew, terminated, truncated, extras = self.env.step(actions)
^^^^^^^^^^^^^^^^^^^^^^
File "/home/air/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 393, in step
return super().step(action)
^^^^^^^^^^^^^^^^^^^^
File "/home/air/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/gymnasium/core.py", line 322, in step
return self.env.step(action)
^^^^^^^^^^^^^^^^^^^^^
File "/home/air/projects/IsaacLab-main/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 208, in step
self.reward_buf = self.reward_manager.compute(dt=self.step_dt)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/air/projects/IsaacLab-main/source/isaaclab/isaaclab/managers/reward_manager.py", line 149, in compute
value = term_cfg.func(self._env, **term_cfg.params) * term_cfg.weight * dt
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
TypeError: is_alive() got an unexpected keyword argument 'asset_cfg'