Comments (22)
balakumar-s
commented on September 15, 2024
1
cuRobo will work on pytorch>=1.10 and CUDA>=11.0.
However there might be bugs in pytorch like the one you encountered that can cause issues for newer gpus working on older pytorch.
As long as you can run pytorch with your gpu, curobo will also work.
Regarding Ubuntu, it doesn't matter which one you use.
We have tested isaac sim 2022.2.1 and 2023.1.0. Newer versions should also work.
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balakumar-s
commented on September 15, 2024
1
Regarding your pytest error, we have a known issue with pytest == 6.2.5 (https://curobo.org/source/getting_started/6_known_issues.html#python). Installing any other version of pytest will work.
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balakumar-s
commented on September 15, 2024
What gpu are you testing this on? Also what's your version of the nvidia driver?
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im-renpei
commented on September 15, 2024
What gpu are you testing this on? Also what's your version of the nvidia driver?
Hi Balakumar @balakumar-s , thx for your timely reply. I just update the above issue description. The GPU is RTX 4090 and the driver is 525.
➜ ~ nvidia-smi
Wed Dec 20 10:09:58 2023
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 525.125.06 Driver Version: 525.125.06 CUDA Version: 12.0 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA GeForce ... Off | 00000000:01:00.0 On | Off |
| 32% 31C P8 12W / 450W | 2567MiB / 24564MiB | 1% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1210 G /usr/lib/xorg/Xorg 151MiB |
| 0 N/A N/A 2038 G /usr/lib/xorg/Xorg 1448MiB |
| 0 N/A N/A 2167 G /usr/bin/gnome-shell 257MiB |
| 0 N/A N/A 2508 G ...RendererForSitePerProcess 18MiB |
| 0 N/A N/A 4024 C+G ...369779272449050828,262144 595MiB |
| 0 N/A N/A 5735 G ...RendererForSitePerProcess 15MiB |
| 0 N/A N/A 12806 G ...RendererForSitePerProcess 60MiB |
+-----------------------------------------------------------------------------+
➜ ~
➜ ~ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2022 NVIDIA Corporation
Built on Tue_May__3_18:49:52_PDT_2022
Cuda compilation tools, release 11.7, V11.7.64
Build cuda_11.7.r11.7/compiler.31294372_0
➜ ~
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balakumar-s
commented on September 15, 2024
Can you try with cuda 11.8?
Pytorch provides conda installation for cuda 11.8 here:
https://pytorch.org/get-started/locally/
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balakumar-s
commented on September 15, 2024
Looks like it's a known bug in pytorch 1.13 that was fixed.
Install the newer pytorch 2.0 and this should be fixed.
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im-renpei
commented on September 15, 2024
Can you try with cuda 11.8?
Pytorch provides conda installation for cuda 11.8 here: https://pytorch.org/get-started/locally/
I will try it now.
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im-renpei
commented on September 15, 2024
Hi Yibo @Spphire , I see that you can successfully run CuRobo demo in Isaac Sim. May I ask what your environment (Ubuntu, Python, CUDA, PyTorch, Isaac Sim) is?
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im-renpei
commented on September 15, 2024
Looks like it's a known bug in pytorch 1.13 that was fixed.
Install the newer pytorch 2.0 and this should be fixed.
My setup is
conda create -n curobo-env python=3.8.10
conda activate curobo-env
conda install pytorch torchvision torchaudio pytorch-cuda=11.8 -c pytorch -c nvidia
conda install pip
mkdir -p /home/pren/Space/GitHub-Codes/curobo_ws/curobo
cd /home/pren/Space/GitHub-Codes/curobo_ws/curobo
git clone https://github.com/NVlabs/curobo.git
cd curobo
git lfs pull
pip install -e . --no-build-isolation
python examples/collision_check_example.py # Passed
python examples/ik_example.py # Passed
pip install pluggy
python3 -m pytest . # 1 failed, 135 passed, 3 skipped, 5 warnings
➜ ~ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2022 NVIDIA Corporation
Built on Wed_Sep_21_10:33:58_PDT_2022
Cuda compilation tools, release 11.8, V11.8.89
Build cuda_11.8.r11.8/compiler.31833905_0
➜ ~
➜ ~ nvidia-smi
Wed Dec 20 14:33:51 2023
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 525.125.06 Driver Version: 525.125.06 CUDA Version: 12.0 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA GeForce ... Off | 00000000:01:00.0 On | Off |
| 32% 34C P8 12W / 450W | 1663MiB / 24564MiB | 1% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1210 G /usr/lib/xorg/Xorg 151MiB |
| 0 N/A N/A 2038 G /usr/lib/xorg/Xorg 865MiB |
| 0 N/A N/A 2167 G /usr/bin/gnome-shell 134MiB |
| 0 N/A N/A 2508 G ...RendererForSitePerProcess 14MiB |
| 0 N/A N/A 4024 C+G ...369779272449050828,262144 414MiB |
| 0 N/A N/A 12806 G ...RendererForSitePerProcess 62MiB |
+-----------------------------------------------------------------------------+
➜ ~
Issue Details
(curobo-env) ➜ curobo git clone https://github.com/NVlabs/curobo.git
Cloning into 'curobo'...
remote: Enumerating objects: 854, done.
remote: Counting objects: 100% (74/74), done.
remote: Compressing objects: 100% (34/34), done.
remote: Total 854 (delta 52), reused 45 (delta 39), pack-reused 780
Receiving objects: 100% (854/854), 2.68 MiB | 1.52 MiB/s, done.
Resolving deltas: 100% (316/316), done.
Filtering content: 100% (214/214), 238.55 MiB | 1.15 MiB/s, done.
(curobo-env) ➜ curobo cd curobo
(curobo-env) ➜ curobo git:(main) git lfs pull
(curobo-env) ➜ curobo git:(main) pip install -e . --no-build-isolation
Looking in indexes: https://mirrors.bfsu.edu.cn/pypi/web/simple/
Obtaining file:///home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo
Checking if build backend supports build_editable ... done
Preparing editable metadata (pyproject.toml) ... done
Requirement already satisfied: networkx in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (3.1)
Requirement already satisfied: numpy in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (1.22.0)
Requirement already satisfied: numpy-quaternion in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (2022.4.3)
Requirement already satisfied: pyyaml in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (6.0.1)
Requirement already satisfied: setuptools-scm>=6.2 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (8.0.4)
Requirement already satisfied: torchtyping in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (0.1.4)
Requirement already satisfied: torch>=1.10 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (1.12.1+cu113)
Requirement already satisfied: trimesh in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (3.15.5)
Requirement already satisfied: yourdfpy>=0.0.53 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (0.0.53)
Requirement already satisfied: warp-lang>=0.9.0 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (0.10.1)
Requirement already satisfied: scipy>=1.7.0 in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (1.10.1)
Requirement already satisfied: tqdm in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (4.66.1)
Requirement already satisfied: wheel in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (0.41.2)
Requirement already satisfied: importlib-resources in /home/pren/.local/lib/python3.8/site-packages (from nvidia-curobo==0.6.2.post1.dev3) (6.1.0)
Requirement already satisfied: packaging>=20 in /home/pren/.local/lib/python3.8/site-packages (from setuptools-scm>=6.2->nvidia-curobo==0.6.2.post1.dev3) (23.2)
Requirement already satisfied: setuptools in /home/pren/.local/lib/python3.8/site-packages (from setuptools-scm>=6.2->nvidia-curobo==0.6.2.post1.dev3) (65.7.0)
Requirement already satisfied: typing-extensions in /home/pren/.local/lib/python3.8/site-packages (from setuptools-scm>=6.2->nvidia-curobo==0.6.2.post1.dev3) (4.8.0)
Requirement already satisfied: tomli>=1 in /home/pren/.local/lib/python3.8/site-packages (from setuptools-scm>=6.2->nvidia-curobo==0.6.2.post1.dev3) (2.0.1)
Collecting lxml (from yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3)
Using cached https://mirrors.bfsu.edu.cn/pypi/web/packages/c3/4c/556867cb2193b323728678f239ce24463ae71b8636aba7d6e55a72e3650e/lxml-4.9.4-cp38-cp38-manylinux_2_28_x86_64.whl (8.0 MB)
Requirement already satisfied: six in /home/pren/anaconda3/envs/curobo-env/lib/python3.8/site-packages (from yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.16.0)
Requirement already satisfied: zipp>=3.1.0 in /home/pren/.local/lib/python3.8/site-packages (from importlib-resources->nvidia-curobo==0.6.2.post1.dev3) (3.17.0)
Requirement already satisfied: typeguard>=2.11.1 in /home/pren/.local/lib/python3.8/site-packages (from torchtyping->nvidia-curobo==0.6.2.post1.dev3) (4.1.5)
Requirement already satisfied: pillow in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (10.1.0)
Requirement already satisfied: requests in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2.31.0)
Collecting chardet (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3)
Using cached https://mirrors.bfsu.edu.cn/pypi/web/packages/38/6f/f5fbc992a329ee4e0f288c1fe0e2ad9485ed064cac731ed2fe47dcc38cbf/chardet-5.2.0-py3-none-any.whl (199 kB)
Requirement already satisfied: msgpack in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.0.7)
Requirement already satisfied: xxhash in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (3.4.1)
Requirement already satisfied: shapely in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2.0.2)
Requirement already satisfied: sympy in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.12)
Requirement already satisfied: jsonschema in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (4.19.1)
Requirement already satisfied: mapbox-earcut in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.0.1)
Requirement already satisfied: pyglet in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.5.27)
Requirement already satisfied: rtree in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.1.0)
Requirement already satisfied: pycollada in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (0.7.2)
Requirement already satisfied: colorlog in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (6.7.0)
Requirement already satisfied: svg.path in /home/pren/.local/lib/python3.8/site-packages (from trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (6.3)
Requirement already satisfied: importlib-metadata>=3.6 in /home/pren/.local/lib/python3.8/site-packages (from typeguard>=2.11.1->torchtyping->nvidia-curobo==0.6.2.post1.dev3) (6.8.0)
Requirement already satisfied: attrs>=22.2.0 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (23.1.0)
Requirement already satisfied: jsonschema-specifications>=2023.03.6 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2023.7.1)
Requirement already satisfied: pkgutil-resolve-name>=1.3.10 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.3.10)
Requirement already satisfied: referencing>=0.28.4 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (0.30.2)
Requirement already satisfied: rpds-py>=0.7.1 in /home/pren/.local/lib/python3.8/site-packages (from jsonschema->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (0.10.6)
Requirement already satisfied: python-dateutil>=2.2 in /home/pren/.local/lib/python3.8/site-packages (from pycollada->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2.8.2)
Requirement already satisfied: charset-normalizer<4,>=2 in /home/pren/.local/lib/python3.8/site-packages (from requests->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (3.3.0)
Requirement already satisfied: idna<4,>=2.5 in /home/pren/anaconda3/envs/curobo-env/lib/python3.8/site-packages (from requests->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (3.4)
Requirement already satisfied: urllib3<3,>=1.21.1 in /home/pren/.local/lib/python3.8/site-packages (from requests->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2.0.7)
Requirement already satisfied: certifi>=2017.4.17 in /home/pren/anaconda3/envs/curobo-env/lib/python3.8/site-packages (from requests->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (2023.11.17)
Requirement already satisfied: mpmath>=0.19 in /home/pren/.local/lib/python3.8/site-packages (from sympy->trimesh[easy]>=3.11.2->yourdfpy>=0.0.53->nvidia-curobo==0.6.2.post1.dev3) (1.3.0)
Building wheels for collected packages: nvidia-curobo
Building editable for nvidia-curobo (pyproject.toml) ... done
Created wheel for nvidia-curobo: filename=nvidia_curobo-0.6.2.post1.dev3-0.editable-cp38-cp38-linux_x86_64.whl size=5627 sha256=0aac1d4d57caa3e70b71eb56820fe595fc2089eac197c2aee23d97614bb6095e
Stored in directory: /tmp/pip-ephem-wheel-cache-otha34g9/wheels/ac/e5/36/52e2c21d4f654260867554ec1f86a8445280b02c7854b2a741
Successfully built nvidia-curobo
Installing collected packages: lxml, chardet, nvidia-curobo
Successfully installed chardet-5.2.0 lxml-4.9.4 nvidia-curobo-0.6.2.post1.dev3
[notice] A new release of pip is available: 23.3.1 -> 23.3.2
[notice] To update, run: pip install --upgrade pip
(curobo-env) ➜ curobo git:(main) python examples/collision_check_example.py
tensor([[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.1076],
[0.1610],
[0.0000]], device='cuda:0')
Collision Distance:
World: tensor([0.0000, 0.0000, 0.0000, 0.0000, 1.8775], device='cuda:0')
Self: tensor([0., 0., 0., 0., 0.], device='cuda:0')
(curobo-env) ➜ curobo git:(main) python examples/ik_example.py
Success, Solve Time(s), Total Time(s) 0.9986 1.4519603252410889 1453.4814977661533 tensor(0.0187, device='cuda:0') tensor(0.1570, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9946 0.14182186126708984 20139.94180295595 tensor(0.0477, device='cuda:0') tensor(0.5623, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9938 0.14045000076293945 35142.71398719403 tensor(0.0644, device='cuda:0') tensor(0.5433, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9948 0.14042997360229492 35189.83008755709 tensor(0.0345, device='cuda:0') tensor(0.5037, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9952 0.14171576499938965 34891.18300321934 tensor(0.0661, device='cuda:0') tensor(0.4650, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9946 0.14111542701721191 35045.11083445435 tensor(0.0423, device='cuda:0') tensor(0.4917, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9936 0.14092016220092773 35082.16192163377 tensor(0.0604, device='cuda:0') tensor(0.6125, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9948 0.140580415725708 35168.46772516585 tensor(0.0399, device='cuda:0') tensor(0.5153, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.995 0.140869140625 35103.537048537124 tensor(0.0519, device='cuda:0') tensor(0.5363, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9952 0.1402597427368164 35248.266287485334 tensor(0.0485, device='cuda:0') tensor(0.4898, device='cuda:0')
(curobo-env) ➜ curobo git:(main) pip install pluggy
Looking in indexes: https://mirrors.bfsu.edu.cn/pypi/web/simple/
Collecting pluggy
Using cached https://mirrors.bfsu.edu.cn/pypi/web/packages/05/b8/42ed91898d4784546c5f06c60506400548db3f7a4b3fb441cba4e5c17952/pluggy-1.3.0-py3-none-any.whl (18 kB)
Installing collected packages: pluggy
Successfully installed pluggy-1.3.0
[notice] A new release of pip is available: 23.3.1 -> 23.3.2
[notice] To update, run: pip install --upgrade pip
(curobo-env) ➜ curobo git:(main) python3 -m pytest .
======================================================================================= test session starts =======================================================================================
platform linux -- Python 3.8.10, pytest-7.1.1, pluggy-1.3.0
rootdir: /home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo, configfile: pyproject.toml
plugins: anyio-4.0.0, torchtyping-0.1.4, typeguard-4.1.5, cov-3.0.0, hydra-core-1.3.2
collected 137 items / 2 skipped
tests/cost_test.py . [ 0%]
tests/cuda_robot_generator_test.py .... [ 3%]
tests/curobo_robot_world_model_test.py ........... [ 11%]
tests/curobo_version_test.py . [ 12%]
tests/geom_test.py ...... [ 16%]
tests/geom_types_test.py ...... [ 21%]
tests/goal_test.py .. [ 22%]
tests/ik_config_test.py .... [ 25%]
tests/ik_module_test.py ...... [ 29%]
tests/ik_test.py ..... [ 33%]
tests/interpolation_test.py . [ 34%]
tests/kinematics_test.py ..... [ 37%]
tests/motion_gen_api_test.py .. [ 39%]
tests/motion_gen_module_test.py ............. [ 48%]
tests/motion_gen_test.py ... [ 51%]
tests/mpc_test.py F... [ 54%]
tests/multi_pose_test.py . [ 54%]
tests/pose_reaching_test.py .... [ 57%]
tests/pose_test.py .. [ 59%]
tests/robot_assets_test.py ............... [ 70%]
tests/robot_config_test.py ... [ 72%]
tests/robot_world_model_test.py ............ [ 81%]
tests/self_collision_test.py ..... [ 84%]
tests/trajopt_config_test.py .... [ 87%]
tests/trajopt_test.py .......... [ 94%]
tests/usd_export_test.py s. [ 96%]
tests/warp_mesh_test.py ... [ 98%]
tests/world_config_test.py .. [100%]
============================================================================================ FAILURES =============================================================================================
______________________________________________________________________________ test_mpc_single[mpc_single_env-True] _______________________________________________________________________________
mpc_str = 'mpc_single_env', expected = True, request = <FixtureRequest for <Function test_mpc_single[mpc_single_env-True]>>
@pytest.mark.parametrize(
"mpc_str, expected",
[
("mpc_single_env", True),
# ("mpc_single_env_lbfgs", True), unstable
],
)
def test_mpc_single(mpc_str, expected, request):
mpc_val = request.getfixturevalue(mpc_str)
mpc = mpc_val[0]
retract_cfg = mpc_val[1]
start_state = retract_cfg
state = mpc.rollout_fn.compute_kinematics(JointState.from_position(retract_cfg))
retract_pose = Pose(state.ee_pos_seq, quaternion=state.ee_quat_seq)
goal = Goal(
current_state=JointState.from_position(retract_cfg + 0.5),
goal_state=JointState.from_position(retract_cfg),
goal_pose=retract_pose,
)
goal_buffer = mpc.setup_solve_single(goal, 1)
start_state = JointState.from_position(retract_cfg + 0.5, joint_names=mpc.joint_names)
converged = False
tstep = 0
mpc.update_goal(goal_buffer)
current_state = start_state.clone()
while not converged:
result = mpc.step(current_state, max_attempts=1)
torch.cuda.synchronize()
current_state.copy_(result.action)
tstep += 1
if result.metrics.pose_error.item() < 0.05:
converged = True
break
if tstep > 100:
break
> assert converged == expected
E assert False == True
tests/mpc_test.py:135: AssertionError
======================================================================================== warnings summary =========================================================================================
<unknown>:3
<unknown>:3: DeprecationWarning: invalid escape sequence \p
tests/ik_config_test.py:149
/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/tests/ik_config_test.py:149: SyntaxWarning: "is not" with a literal. Did you mean "!="?
if expected is not -100:
tests/pose_reaching_test.py::test_pose_sequence_ur5e[True-False-12]
/home/pren/Space/GitHub-Codes/curobo_ws/curobo/curobo/src/curobo/graph/graph_base.py:696: UserWarning: FALLBACK path has been taken inside: runCudaFusionGroup. This is an indication that codegen Failed for some reason.
To debug try disable codegen fallback path via setting the env variable `export PYTORCH_NVFUSER_DISABLE=fallback`
(Triggered internally at ../torch/csrc/jit/codegen/cuda/manager.cpp:329.)
return compute_distance_norm_jit(pt, batch_pts, self.distance_weight)
tests/pose_test.py::test_pose_transform_point_grad
/home/pren/.local/lib/python3.8/site-packages/torch/autograd/gradcheck.py:652: UserWarning: Input #0 requires gradient and is not a double precision floating point or complex. This check will likely fail if all the inputs are not of double precision floating point or complex.
warnings.warn(
tests/pose_test.py::test_pose_transform_point_grad
/home/pren/.local/lib/python3.8/site-packages/torch/autograd/gradcheck.py:652: UserWarning: Input #1 requires gradient and is not a double precision floating point or complex. This check will likely fail if all the inputs are not of double precision floating point or complex.
warnings.warn(
-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
===================================================================================== short test summary info =====================================================================================
FAILED tests/mpc_test.py::test_mpc_single[mpc_single_env-True] - assert False == True
================================================================= 1 failed, 135 passed, 3 skipped, 5 warnings in 74.77s (0:01:14) =================================================================
(curobo-env) ➜ curobo git:(main)
from curobo.
balakumar-s
commented on September 15, 2024
It's working correctly, that one test which failed is an outlier.
from curobo.
im-renpei
commented on September 15, 2024
It's working correctly, that one test which failed is an outlier.
Thx.
from curobo.
im-renpei
commented on September 15, 2024
It's working correctly, that one test which failed is an outlier.
By the way, I would like to ask under which environments has CuRobo been tested and is feasible? Have you used CuRobo under Isaac Sim 2023.1.0 (currently 2023.1.0-hotfix.1; and 2023.1.1 is now available) and Ubuntu 22.04? What are the minimum CUDA and pytorch versions required by CuRobo? @balakumar-s
from curobo.
im-renpei
commented on September 15, 2024
Hi @balakumar-s , have you encountered these two problems?
- python version: 3.10.12
- Isaac Sim version (if using): N/A
- Ubuntu version: 22.04
- GPU: NVIDIA GeForce RTX A6000
- Driver version: 525.147.05
- CUDA version: 12.1
pip install torch==2.1.1 torchvision==0.16.1 torchaudio==2.1.1 --index-url https://download.pytorch.org/whl/cu121
Do I need to use another version of pytorch?
eai@eai-Z790-UD-AX:~/rp/curobo$ nvidia-smi
Mon Dec 25 20:33:36 2023
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 525.147.05 Driver Version: 525.147.05 CUDA Version: 12.0 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA RTX A6000 Off | 00000000:01:00.0 On | Off |
| 30% 41C P8 28W / 300W | 365MiB / 49140MiB | 12% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1876 G /usr/lib/xorg/Xorg 146MiB |
| 0 N/A N/A 1999 G /usr/bin/gnome-shell 35MiB |
| 0 N/A N/A 2480 G ...RendererForSitePerProcess 13MiB |
| 0 N/A N/A 2798 G ...7/usr/lib/firefox/firefox 165MiB |
+-----------------------------------------------------------------------------+
eai@eai-Z790-UD-AX:~/rp/curobo$ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2023 NVIDIA Corporation
Built on Tue_Feb__7_19:32:13_PST_2023
Cuda compilation tools, release 12.1, V12.1.66
Build cuda_12.1.r12.1/compiler.32415258_0
Issue 1
eai@eai-Z790-UD-AX:~/rp/curobo$ python3 examples/ik_example.py
Traceback (most recent call last):
File "/home/eai/rp/curobo/examples/ik_example.py", line 232, in <module>
demo_basic_ik()
File "/home/eai/rp/curobo/examples/ik_example.py", line 62, in demo_basic_ik
result = ik_solver.solve_batch(goal)
File "/home/eai/rp/curobo/src/curobo/wrap/reacher/ik_solver.py", line 537, in solve_batch
return self.solve_from_solve_state(
File "/home/eai/rp/curobo/src/curobo/wrap/reacher/ik_solver.py", line 675, in solve_from_solve_state
result = self.solver.solve(goal_buffer, coord_position_seed)
File "/home/eai/rp/curobo/src/curobo/wrap/wrap_base.py", line 139, in solve
act_seq = self.optimize(seed, shift_steps=0)
File "/home/eai/rp/curobo/src/curobo/wrap/wrap_base.py", line 71, in optimize
act_seq = opt.optimize(act_seq, shift_steps)
File "/home/eai/rp/curobo/src/curobo/opt/opt_base.py", line 96, in optimize
out = self._optimize(opt_tensor, shift_steps, n_iters)
File "/home/eai/rp/curobo/src/curobo/opt/newton/newton_base.py", line 144, in _optimize
best_q, best_cost, q, grad_q = self._call_opt_iters_graph(q, grad_q)
File "/home/eai/rp/curobo/src/curobo/opt/newton/newton_base.py", line 521, in _call_opt_iters_graph
return self._opt_iters(q, grad_q)
File "/home/eai/rp/curobo/src/curobo/opt/newton/newton_base.py", line 170, in _opt_iters
cost_n, q, grad_q = self._opt_step(q.detach(), grad_q.detach())
File "/home/eai/rp/curobo/src/curobo/opt/newton/newton_base.py", line 182, in _opt_step
q_n, cost_n, grad_q_n = self._approx_line_search(q, grad_q)
File "/home/eai/rp/curobo/src/curobo/opt/newton/newton_base.py", line 425, in _approx_line_search
return self._wolfe_line_search(x, step_direction)
File "/home/eai/rp/curobo/src/curobo/opt/newton/newton_base.py", line 333, in _wolfe_line_search
(best_x_n, best_c_n, best_grad_n) = wolfe_line_search(
File "/home/eai/rp/curobo/src/curobo/curobolib/ls.py", line 60, in wolfe_line_search
r = line_search_cu.line_search(
RuntimeError: CUDA error: the provided PTX was compiled with an unsupported toolchain.
CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect.
For debugging consider passing CUDA_LAUNCH_BLOCKING=1.
Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions.
Issue 2
eai@eai-Z790-UD-AX:~/rp/curobo$ python3 -m pytest .
Traceback (most recent call last):
File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/usr/lib/python3.10/runpy.py", line 86, in _run_code
exec(code, run_globals)
File "/usr/lib/python3/dist-packages/pytest/__main__.py", line 5, in <module>
raise SystemExit(pytest.console_main())
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 185, in console_main
code = main()
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 143, in main
config = _prepareconfig(args, plugins)
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 318, in _prepareconfig
config = pluginmanager.hook.pytest_cmdline_parse(
File "/usr/lib/python3/dist-packages/pluggy/hooks.py", line 286, in __call__
return self._hookexec(self, self.get_hookimpls(), kwargs)
File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 92, in _hookexec
return self._inner_hookexec(hook, methods, kwargs)
File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 83, in <lambda>
self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 203, in _multicall
gen.send(outcome)
File "/usr/lib/python3/dist-packages/_pytest/helpconfig.py", line 100, in pytest_cmdline_parse
config: Config = outcome.get_result()
File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 80, in get_result
raise ex[1].with_traceback(ex[2])
File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 187, in _multicall
res = hook_impl.function(*args)
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 1003, in pytest_cmdline_parse
self.parse(args)
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 1283, in parse
self._preparse(args, addopts=addopts)
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 1172, in _preparse
self.pluginmanager.load_setuptools_entrypoints("pytest11")
File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 297, in load_setuptools_entrypoints
plugin = ep.load()
File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
module = import_module(match.group('module'))
File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "/usr/lib/python3/dist-packages/_pytest/assertion/rewrite.py", line 170, in exec_module
exec(co, module.__dict__)
File "/home/eai/.local/lib/python3.10/site-packages/typeguard/_pytest_plugin.py", line 6, in <module>
from pytest import Config, Parser
ImportError: cannot import name 'Config' from 'pytest' (/usr/lib/python3/dist-packages/pytest/__init__.py)
from curobo.
balakumar-s
commented on September 15, 2024
Your driver only supports up to CUDA 12.0. Can you upgrade your nvidia driver and test?
from curobo.
im-renpei
commented on September 15, 2024
Hi @balakumar-s , thx for your timely reply.
I have updated my CUDA and NVIDIA driver version, and seems that CuRobo works well with Python but seems to have encountered problems in Isaac Sim.
Ubuntu version: 22.04.3
Yython version: 3.10.12
Isaac Sim version (if using): N/A
GPU: NVIDIA GeForce RTX A6000
Driver version: 545.29.06
CUDA version: 12.3
eai@eai-Z790-UD-AX:~$ nvidia-smi
Wed Dec 27 19:59:33 2023
+---------------------------------------------------------------------------------------+
| NVIDIA-SMI 545.29.06 Driver Version: 545.29.06 CUDA Version: 12.3 |
|-----------------------------------------+----------------------+----------------------+
| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|=========================================+======================+======================|
| 0 NVIDIA RTX A6000 Off | 00000000:01:00.0 On | Off |
| 30% 37C P8 17W / 300W | 706MiB / 49140MiB | 5% Default |
| | | N/A |
+-----------------------------------------+----------------------+----------------------+
+---------------------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=======================================================================================|
| 0 N/A N/A 2041 G /usr/lib/xorg/Xorg 152MiB |
| 0 N/A N/A 2165 G /usr/bin/gnome-shell 225MiB |
| 0 N/A N/A 2814 G ...ures=SpareRendererForSitePerProcess 46MiB |
| 0 N/A N/A 65181 C python3 260MiB |
+---------------------------------------------------------------------------------------+
eai@eai-Z790-UD-AX:~$
eai@eai-Z790-UD-AX:~$ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2023 NVIDIA Corporation
Built on Tue_Aug_15_22:02:13_PDT_2023
Cuda compilation tools, release 12.2, V12.2.140
Build cuda_12.2.r12.2/compiler.33191640_0
eai@eai-Z790-UD-AX:~$
sudo apt install git-lfs
git clone https://github.com/NVlabs/curobo.git
cd curobo
git lfs pull
pip install -e . --no-build-isolation
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ python3 examples/ik_example.py
/usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.2
warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
Success, Solve Time(s), Total Time(s) 0.9992 1.1695911884307861 1789.24586747862 tensor(0.0107, device='cuda:0') tensor(0.1423, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9972 0.2578887939453125 16037.759801289963 tensor(0.0233, device='cuda:0') tensor(0.3517, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9942 0.25640439987182617 19382.611074552486 tensor(0.0702, device='cuda:0') tensor(0.5208, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9946 0.2590043544769287 19212.834745867523 tensor(0.0736, device='cuda:0') tensor(0.4925, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9944 0.25742006301879883 19333.383115260833 tensor(0.0466, device='cuda:0') tensor(0.5087, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9938 0.258974552154541 19223.24294694696 tensor(0.0391, device='cuda:0') tensor(0.5017, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.993 0.25754809379577637 19317.9427375511 tensor(0.0525, device='cuda:0') tensor(0.6029, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.996 0.2578907012939453 19299.27630658686 tensor(0.0280, device='cuda:0') tensor(0.3821, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9948 0.2580077648162842 19290.435691250303 tensor(0.0484, device='cuda:0') tensor(0.4698, device='cuda:0')
Success, Solve Time(s), Total Time(s) 0.9942 0.25784993171691895 19304.072799706915 tensor(0.0520, device='cuda:0') tensor(0.5610, device='cuda:0')
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ python3 examples/collision_check_example.py
/usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.2
warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
tensor([[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.0000],
[0.0922],
[0.0000],
[0.0000],
[0.0000]], device='cuda:0')
Collision Distance:
World: tensor([0.0000, 0.0000, 0.0000, 0.0000, 1.8775], device='cuda:0')
Self: tensor([0., 0., 0., 0., 0.], device='cuda:0')
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ python3 examples/kinematics_example.py
/usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.2
warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
[INFO] [curobo] Self Collision threads, skipped %: 60.67307692307692
[INFO] [curobo] Self Collision count: 818.0
[INFO] [curobo] Self Collision per thread: 0.798828125
[INFO] [curobo] Self Collision using: 2
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ python3 examples/motion_gen_example.py
/usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.2
warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
Trajectory Generated: tensor([True, True], device='cuda:0')
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$
Pytest Error
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ python3 -m pytest .
Traceback (most recent call last):
File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/usr/lib/python3.10/runpy.py", line 86, in _run_code
exec(code, run_globals)
File "/usr/lib/python3/dist-packages/pytest/__main__.py", line 5, in <module>
raise SystemExit(pytest.console_main())
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 185, in console_main
code = main()
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 143, in main
config = _prepareconfig(args, plugins)
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 318, in _prepareconfig
config = pluginmanager.hook.pytest_cmdline_parse(
File "/usr/lib/python3/dist-packages/pluggy/hooks.py", line 286, in __call__
return self._hookexec(self, self.get_hookimpls(), kwargs)
File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 92, in _hookexec
return self._inner_hookexec(hook, methods, kwargs)
File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 83, in <lambda>
self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 203, in _multicall
gen.send(outcome)
File "/usr/lib/python3/dist-packages/_pytest/helpconfig.py", line 100, in pytest_cmdline_parse
config: Config = outcome.get_result()
File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 80, in get_result
raise ex[1].with_traceback(ex[2])
File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 187, in _multicall
res = hook_impl.function(*args)
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 1003, in pytest_cmdline_parse
self.parse(args)
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 1283, in parse
self._preparse(args, addopts=addopts)
File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 1172, in _preparse
self.pluginmanager.load_setuptools_entrypoints("pytest11")
File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 297, in load_setuptools_entrypoints
plugin = ep.load()
File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
module = import_module(match.group('module'))
File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "/usr/lib/python3/dist-packages/_pytest/assertion/rewrite.py", line 170, in exec_module
exec(co, module.__dict__)
File "/home/eai/.local/lib/python3.10/site-packages/typeguard/_pytest_plugin.py", line 6, in <module>
from pytest import Config, Parser
ImportError: cannot import name 'Config' from 'pytest' (/usr/lib/python3/dist-packages/pytest/__init__.py)
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$
Isaac Sim Error
I first updated the version of torch in Isaac Sim, then CuRobo is compiled normally. But among all the Isaac Sim examples, only omni_python examples/isaac_sim/collision_checker.py can be executed well, and other examples have the same error.
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$ omni_python -m pip list | grep torch
torch 2.1.0+cu121
torchaudio 2.1.0+cu121
torchtyping 0.1.4
torchvision 0.16.0+cu121
WARNING: You are using pip version 21.2.1+nv1; however, version 23.3.2 is available.
You should consider upgrading via the '/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/bin/python3 -m pip install --upgrade pip' command.
omni_python examples/isaac_sim/multi_arm_reacher.py --robot dual_ur10e.yml # Rrror
[5.967s] Simulation App Starting
2023-12-27 11:20:59 [5,972ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2023-12-27 11:20:59 [5,972ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2023-12-27 11:20:59 [5,973ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2023-12-27 11:20:59 [5,973ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2023-12-27 11:20:59 [5,973ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2023-12-27 11:20:59 [5,973ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2023-12-27 11:21:00 [6,969ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-27 11:21:00 [6,969ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[7.637s] app ready
2023-12-27 11:21:01 [7,995ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-27 11:21:01 [7,995ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[8.190s] RTX ready
[8.330s] Simulation App Startup Complete
2023-12-27 11:21:02 [9,154ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2023-12-27 11:21:02 [9,154ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2023-12-27 11:21:02 [9,154ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2023-12-27 11:21:02 [9,154ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2023-12-27 11:21:02 [9,156ms] [Warning] [omni.importer.urdf] Link base_fixture_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:21:02 [9,157ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:21:02 [9,236ms] [Warning] [omni.importer.urdf] Link flange has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:21:02 [9,238ms] [Warning] [omni.importer.urdf] Link tool0 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:21:02 [9,239ms] [Warning] [omni.importer.urdf] Link base_link_1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:21:02 [9,314ms] [Warning] [omni.importer.urdf] Link flange_1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:21:02 [9,315ms] [Warning] [omni.importer.urdf] Link tool1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
Traceback (most recent call last):
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 354, in <module>
main()
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 118, in main
robot, robot_prim_path = add_robot_to_scene(robot_cfg, my_world)
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/helper.py", line 115, in add_robot_to_scene
robot_p.set_solver_velocity_iteration_count(4)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation.py", line 981, in set_solver_velocity_iteration_count
self._articulation_view.set_solver_velocity_iteration_counts(count)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 3243, in set_solver_velocity_iteration_counts
set_prim_property(self.prim_paths[i], "physxArticulation:solverVelocityIterationCount", counts[read_idx])
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/prims.py", line 802, in set_prim_property
prim.GetAttribute(property_name).Set(property_value)
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved__::UsdStage::_SetValueImpl' at line 6174 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp : 'Empty typeName for </World/ur10e_robot.physxArticulation:solverVelocityIterationCount>'
2023-12-27 11:21:02 [9,329ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2023-12-27 11:21:02 [9,331ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:21:02 [9,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2023-12-27 11:21:02 [9,335ms] [Warning] [carb.audio.context] 1 contexts were leaked
2023-12-27 11:21:02 [9,385ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2023-12-27 11:21:02 [9,398ms] [Warning] [omni.core.ITypeFactory] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$
omni_python examples/isaac_sim/mpc_example.py --robot franka.yml # Error
[5.924s] Simulation App Starting
2023-12-27 11:21:55 [5,930ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2023-12-27 11:21:55 [5,930ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2023-12-27 11:21:55 [5,930ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2023-12-27 11:21:55 [5,930ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2023-12-27 11:21:55 [5,930ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2023-12-27 11:21:55 [5,930ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2023-12-27 11:21:56 [6,934ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-27 11:21:56 [6,935ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[7.605s] app ready
2023-12-27 11:21:57 [7,953ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-27 11:21:57 [7,953ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[8.082s] RTX ready
[8.312s] Simulation App Startup Complete
2023-12-27 11:22:18 [29,152ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/mpc_example.py", line 376, in <module>
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/mpc_example.py", line 148, in main
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 225, in add_default_ground_plane
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 572, in get_assets_root_path
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 192, in check_server
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/extscore/omni.client/omni/client/__init__.py", line 158, in stat
2023-12-27 11:24:11 [142,006ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:24:11 [142,157ms] [Warning] [omni.importer.urdf] Link ee_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:24:11 [142,172ms] [Warning] [omni.importer.urdf] Link right_gripper has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
Traceback (most recent call last):
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/mpc_example.py", line 376, in <module>
main()
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/mpc_example.py", line 178, in main
robot, robot_prim_path = add_robot_to_scene(robot_cfg, my_world)
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/helper.py", line 115, in add_robot_to_scene
robot_p.set_solver_velocity_iteration_count(4)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation.py", line 981, in set_solver_velocity_iteration_count
self._articulation_view.set_solver_velocity_iteration_counts(count)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 3243, in set_solver_velocity_iteration_counts
set_prim_property(self.prim_paths[i], "physxArticulation:solverVelocityIterationCount", counts[read_idx])
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/prims.py", line 802, in set_prim_property
prim.GetAttribute(property_name).Set(property_value)
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved__::UsdStage::_SetValueImpl' at line 6174 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp : 'Empty typeName for </World/panda.physxArticulation:solverVelocityIterationCount>'
2023-12-27 11:24:11 [142,183ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2023-12-27 11:24:11 [142,185ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:24:11 [142,186ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2023-12-27 11:24:11 [142,188ms] [Warning] [carb.audio.context] 1 contexts were leaked
2023-12-27 11:24:11 [142,226ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2023-12-27 11:24:11 [142,237ms] [Warning] [omni.core.ITypeFactory] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
omni_python examples/isaac_sim/ik_reachability.py --robot franka.yml # Error
[5.806s] Simulation App Starting
2023-12-27 11:26:50 [5,815ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2023-12-27 11:26:50 [5,815ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2023-12-27 11:26:50 [5,815ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2023-12-27 11:26:50 [5,815ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2023-12-27 11:26:50 [5,815ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2023-12-27 11:26:50 [5,815ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2023-12-27 11:26:51 [6,796ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-27 11:26:51 [6,796ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[7.479s] app ready
2023-12-27 11:26:52 [7,833ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-27 11:26:52 [7,833ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[8.023s] RTX ready
[8.170s] Simulation App Startup Complete
2023-12-27 11:26:53 [9,016ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:26:53 [9,171ms] [Warning] [omni.importer.urdf] Link ee_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-27 11:26:53 [9,187ms] [Warning] [omni.importer.urdf] Link right_gripper has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
Traceback (most recent call last):
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/ik_reachability.py", line 366, in <module>
main()
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/ik_reachability.py", line 168, in main
robot, robot_prim_path = add_robot_to_scene(robot_cfg, my_world)
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/helper.py", line 115, in add_robot_to_scene
robot_p.set_solver_velocity_iteration_count(4)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation.py", line 981, in set_solver_velocity_iteration_count
self._articulation_view.set_solver_velocity_iteration_counts(count)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 3243, in set_solver_velocity_iteration_counts
set_prim_property(self.prim_paths[i], "physxArticulation:solverVelocityIterationCount", counts[read_idx])
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/prims.py", line 802, in set_prim_property
prim.GetAttribute(property_name).Set(property_value)
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved__::UsdStage::_SetValueImpl' at line 6174 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp : 'Empty typeName for </World/panda.physxArticulation:solverVelocityIterationCount>'
2023-12-27 11:26:53 [9,198ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2023-12-27 11:26:53 [9,199ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-27 11:26:53 [9,200ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2023-12-27 11:26:53 [9,202ms] [Warning] [carb.audio.context] 1 contexts were leaked
2023-12-27 11:26:53 [9,233ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2023-12-27 11:26:53 [9,239ms] [Warning] [omni.core.ITypeFactory] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$
from curobo.
balakumar-s
commented on September 15, 2024
I am not sure what's happening here. Did you install usd-core in the isaac sim python environment (this can break things as Isaac Sim comes with it's own usd-core) ?
Try one of the below:
Option 1:
We have not tested in Isaac Sim 2023.1.1.
Can you comment out this line
curobo/examples/isaac_sim/helper.py
Line 115 in c09d949
and also the next line and see if the errors go away?
Option 2:
We do not install a newer pytorch in an Isaac Sim env. Isaac sim comes with pytorch that was compiled with cuda 11.8. If you install cuda 11.8 in your machine that might fix the problem. Though I don't think this is the cause of the problem.
from curobo.
im-renpei
commented on September 15, 2024
Regarding your pytest error, we have a known issue with pytest == 6.2.5 (https://curobo.org/source/getting_started/6_known_issues.html#python). Installing any other version of pytest will work.
Hi @balakumar-s , this solution works. The following output proves that pytest can be passed, right?
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ pip list | grep pytest
launch-pytest 1.0.4
pytest 6.2.5
pytest-cov 3.0.0
pytest-mock 3.6.1
pytest-timeout 2.1.0
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ pip install pytest==7.1.1
Defaulting to user installation because normal site-packages is not writeable
Collecting pytest==7.1.1
Downloading pytest-7.1.1-py3-none-any.whl (297 kB)
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Requirement already satisfied: attrs>=19.2.0 in /home/eai/.local/lib/python3.10/site-packages (from pytest==7.1.1) (23.1.0)
Requirement already satisfied: iniconfig in /usr/lib/python3/dist-packages (from pytest==7.1.1) (1.1.1)
Requirement already satisfied: packaging in /usr/lib/python3/dist-packages (from pytest==7.1.1) (21.3)
Requirement already satisfied: pluggy<2.0,>=0.12 in /usr/lib/python3/dist-packages (from pytest==7.1.1) (0.13.0)
Requirement already satisfied: py>=1.8.2 in /usr/lib/python3/dist-packages (from pytest==7.1.1) (1.10.0)
Requirement already satisfied: tomli>=1.0.0 in /usr/lib/python3/dist-packages (from pytest==7.1.1) (1.2.2)
Installing collected packages: pytest
Successfully installed pytest-7.1.1
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ pip list | grep pytest
launch-pytest 1.0.4
pytest 7.1.1
pytest-cov 3.0.0
pytest-mock 3.6.1
pytest-timeout 2.1.0
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$ python3 -m pytest .
=========================================================================== test session starts ===========================================================================
platform linux -- Python 3.10.12, pytest-7.1.1, pluggy-0.13.0
rootdir: /home/eai/rp/build_curobo/curobo, configfile: pyproject.toml
plugins: ament-mypy-0.12.9, ament-lint-0.12.9, launch-pytest-1.0.4, ament-flake8-0.12.9, ament-copyright-0.12.9, launch-testing-1.0.4, ament-pep257-0.12.9, launch-testing-ros-0.19.6, ament-xmllint-0.12.9, torchtyping-0.1.4, anyio-4.2.0, typeguard-4.1.5, mock-3.6.1, timeout-2.1.0, cov-3.0.0, colcon-core-0.15.1
collected 0 items / 1 skipped
============================================================================ warnings summary =============================================================================
../../../../../usr/lib/python3/dist-packages/scipy/__init__.py:146
Warning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.2
<unknown>:3
Warning: invalid escape sequence '\p'
tests/ik_config_test.py:149
Warning: "is not" with a literal. Did you mean "!="?
-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
===================================================================== 1 skipped, 3 warnings in 1.57s ======================================================================
eai@eai-Z790-UD-AX:~/rp/build_curobo/curobo$
from curobo.
balakumar-s
commented on September 15, 2024
No, it didn't find any tests. Can you try with python3 -m pytest tests/ ?
from curobo.
im-renpei
commented on September 15, 2024
I am not sure what's happening here. Did you install
usd-corein the isaac sim python environment (this can break things as Isaac Sim comes with it's own usd-core) ?Try one of the below:
Option 1: We have not tested in Isaac Sim 2023.1.1.
Can you comment out this line
curobo/examples/isaac_sim/helper.py
Line 115 in c09d949
and also the next line and see if the errors go away?
Option 2: We do not install a newer pytorch in an Isaac Sim env. Isaac sim comes with pytorch that was compiled with cuda 11.8. If you install cuda 11.8 in your machine that might fix the problem. Though I don't think this is the cause of the problem.
Hi @balakumar-s , I just install usd-core in the Isaac Sim Python environment, but it does not work.
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$ omni_python -m pip install usd-core
Collecting usd-core
Downloading usd_core-23.11-cp310-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (25.8 MB)
|████████████████████████████████| 25.8 MB 600 kB/s
Installing collected packages: usd-core
Successfully installed usd-core-23.11
WARNING: You are using pip version 21.2.1+nv1; however, version 23.3.2 is available.
You should consider upgrading via the '/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/bin/python3 -m pip install --upgrade pip' command.
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$ omni_python examples/isaac_sim/multi_arm_reacher.py --robot dual_ur10e.yml
Starting kit application with the following args: ['/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1920', '--/app/renderer/resolution/height=1080', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts', '--ext-folder', '/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application: ['--robot', 'dual_ur10e.yml']
[Info] [carb] Logging to file: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/logs/Kit/Isaac-Sim/2023.1/kit_20231228_090404.log
2023-12-28 01:04:04 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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2023-12-28 01:04:04 [433ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S)
|---------------------------------------------------------------------------------------------|
| Driver Version: 545.29.06 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
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| 0 | NVIDIA RTX A6000 | Yes: 0 | | 49386 MB | 10de | 0 |
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| | | | | | 1 | |
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| 1 | Intel(R) Graphics (RPL-S) | | | 96430 MB | 8086 | 0 |
| | | | | | a780 | 21a1fe4f.. |
| | | | | | 0 | |
|=============================================================================================|
| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 6.2.0-39-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 13th Gen Intel(R) Core(TM) i9-13900K | Cores: 24 | Logical: 48
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 128573 | Free Memory: 121345
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
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Warp 1.0.0-beta.2 initialized:
CUDA Toolkit: 11.5, Driver: 12.3
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"cuda:0" | NVIDIA RTX A6000 (sm_86)
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[5.407s] [ext: omni.kit.menu.edit-1.1.14] startup
[5.409s] [ext: omni.kit.menu.file-1.1.7] startup
[5.411s] [ext: omni.kit.property.layer-1.1.5] startup
[5.412s] [ext: semantics.schema.editor-0.3.4] startup
[5.414s] [ext: omni.kit.property.camera-1.0.5] startup
[5.415s] [ext: omni.kit.property.audio-1.0.9] startup
[5.418s] [ext: omni.kit.profiler.window-2.1.2] startup
2023-12-28 01:04:09 [5,479ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[5.490s] [ext: omni.kit.widget.stage_icons-1.0.4] startup
[5.491s] [ext: omni.hydra.scene_api-0.1.2] startup
[5.497s] [ext: omni.kit.property.light-1.0.8] startup
[5.499s] [ext: omni.kit.property.skel-1.0.4] startup
[5.500s] [ext: omni.kit.window.stage-2.4.4] startup
[5.504s] [ext: omni.kit.property.transform-1.3.10] startup
[5.506s] [ext: omni.kit.property.render-1.1.1] startup
[5.507s] [ext: omni.kit.property.material-1.8.36] startup
[5.510s] [ext: omni.kit.property.geometry-1.2.11] startup
[5.512s] [ext: omni.isaac.debug_draw-0.6.1] startup
2023-12-28 01:04:09 [5,507ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2023-12-28 01:04:09 [5,507ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
[5.518s] [ext: omni.kit.menu.stage-1.2.3] startup
[5.520s] [ext: omni.kit.property.bundle-1.2.9] startup
[5.521s] [ext: omni.kit.property.isaac-0.2.2] startup
[5.523s] [ext: omni.isaac.occupancy_map-0.3.2] startup
[5.538s] [ext: omni.isaac.mjcf-1.0.0] startup
2023-12-28 01:04:09 [5,529ms] [Warning] [omni.isaac.mjcf] The extension omni.isaac.mjcf has been deprecated. Please use omni.importer.mjcf instead.
[5.538s] [ext: omni.kit.viewport.actions-105.1.6] startup
[5.541s] [ext: omni.kit.widget.toolbar-1.5.6] startup
[5.545s] [ext: omni.kit.raycast.query-1.0.1] startup
[5.552s] [ext: omni.kit.manipulator.transform-104.6.15] startup
[5.553s] [ext: omni.rtx.window.settings-0.6.9] startup
[5.556s] [ext: omni.kit.viewport.menubar.display-105.1.0] startup
[5.558s] [ext: omni.kit.manipulator.tool.snap-1.4.2] startup
[5.562s] [ext: omni.hydra.pxr.settings-1.0.5] startup
[5.563s] [ext: omni.activity.pump-1.0.0] startup
[5.564s] [ext: omni.physx.commands-105.1.12-5.1] startup
[5.566s] [ext: omni.usdphysics.ui-105.1.12-5.1] startup
[5.588s] [ext: omni.kit.widget.live-2.1.6] startup
[5.589s] [ext: omni.kit.viewport.pxr-104.0.1] startup
[5.589s] [ext: omni.kit.viewport.ready-1.0.5] startup
[5.590s] [ext: omni.kit.viewport.rtx-104.0.0] startup
[5.590s] [ext: omni.physx.ui-105.1.12-5.1] startup
[5.609s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
[5.611s] [ext: usdrt.gf-1.0.2] startup
[5.611s] [ext: omni.kit.manipulator.selector-1.0.1] startup
[5.612s] [ext: omni.kit.window.commands-0.2.4] startup
[5.613s] [ext: omni.kit.window.console-0.2.10] startup
[5.621s] [ext: omni.kit.property.physx-0.1.0] startup
[5.661s] [ext: omni.kit.actions.window-1.1.0] startup
[5.663s] [ext: omni.physx.demos-105.1.12-5.1] startup
[5.666s] [ext: omni.kit.manipulator.prim-105.0.11] startup
[5.669s] [ext: omni.kit.window.toolbar-1.5.4] startup
[5.671s] [ext: omni.kit.manipulator.selection-104.0.8] startup
[5.672s] [ext: omni.kit.window.script_editor-1.7.4] startup
[5.674s] [ext: omni.kit.hotkeys.window-1.4.1] startup
[5.677s] [ext: omni.physx.camera-105.1.12-5.1] startup
[5.683s] [ext: omni.physx.cct-105.1.12-5.1] startup
[5.693s] [ext: omni.physx.graph-105.1.12-5.1] startup
[5.701s] [ext: omni.physx.supportui-105.1.12-5.1] startup
[5.711s] [ext: omni.physx.vehicle-105.1.12-5.1] startup
[5.719s] [ext: omni.kit.stage_column.payload-1.0.12] startup
[5.721s] [ext: omni.graph.ui_nodes-1.5.10] startup
[5.740s] [ext: omni.sensors.nv.common-1000.0.0-isaacsim.2023.1.1] startup
[5.746s] [ext: omni.sensors.nv.materials-1000.0.0-isaacsim.2023.1.1] startup
[5.747s] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] startup
2023-12-28 01:04:09 [5,739ms] [Error] [carb] [Plugin: libnvwpm2_factory.plugin.so] Could not load the dynamic library from /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm2_factory.plugin.so. Error: libnvrtc.so.11.2: cannot open shared object file: No such file or directory (Additional information may be available by running the process with the LD_DEBUG environment variable set)
2023-12-28 01:04:09 [5,739ms] [Warning] [carb] Potential plugin preload failed: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm2_factory.plugin.so
2023-12-28 01:04:09 [5,739ms] [Error] [omni.ext.plugin] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] failed to load native plugin: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm2_factory.plugin.so
2023-12-28 01:04:09 [5,739ms] [Error] [carb] [Plugin: libnvwpm_factory.plugin.so] Could not load the dynamic library from /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm_factory.plugin.so. Error: libnvrtc.so.11.2: cannot open shared object file: No such file or directory (Additional information may be available by running the process with the LD_DEBUG environment variable set)
2023-12-28 01:04:09 [5,739ms] [Warning] [carb] Potential plugin preload failed: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm_factory.plugin.so
2023-12-28 01:04:09 [5,739ms] [Error] [omni.ext.plugin] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] failed to load native plugin: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm_factory.plugin.so
[5.748s] [ext: omni.kit.window.status_bar-0.1.6] startup
[5.751s] [ext: omni.physx.bundle-105.1.12-5.1] startup
[5.752s] [ext: omni.graph.bundle.action-2.0.4] startup
[5.752s] [ext: omni.isaac.range_sensor-2.0.2] startup
[5.781s] [ext: omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1] startup
2023-12-28 01:04:09 [5,776ms] [Error] [carb] [Plugin: libomni.sensors.nv.lidar.rtxmodel_lidar_core.plugin.so] Could not load the dynamic library from /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1+lx64.r.cp310/bin/libomni.sensors.nv.lidar.rtxmodel_lidar_core.plugin.so. Error: libnvrtc.so.11.2: cannot open shared object file: No such file or directory (Additional information may be available by running the process with the LD_DEBUG environment variable set)
2023-12-28 01:04:09 [5,776ms] [Warning] [carb] Potential plugin preload failed: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1+lx64.r.cp310/bin/libomni.sensors.nv.lidar.rtxmodel_lidar_core.plugin.so
2023-12-28 01:04:09 [5,776ms] [Error] [omni.ext.plugin] [ext: omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1] failed to load native plugin: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1+lx64.r.cp310/bin/libomni.sensors.nv.lidar.rtxmodel_lidar_core.plugin.so
[5.785s] [ext: omni.sensors.nv.radar-1000.0.0-isaacsim.2023.1.1] startup
[5.789s] [ext: omni.kit.window.title-1.1.3] startup
[5.790s] [ext: omni.replicator.composer-1.2.17] startup
[5.802s] [ext: omni.replicator.isaac-1.11.3] startup
[5.818s] [ext: omni.kit.manipulator.camera-105.0.4] startup
[5.820s] [ext: omni.kit.viewport.menubar.camera-105.1.9] startup
[5.823s] [ext: omni.isaac.sensor-9.11.1] startup
[5.870s] [ext: omni.kit.viewport.menubar.render-105.1.1] startup
[5.872s] [ext: omni.kit.viewport.menubar.settings-105.0.9] startup
[5.875s] [ext: omni.replicator.replicator_yaml-2.0.4] startup
[5.881s] [ext: omni.rtx.settings.core-0.5.13] startup
[5.884s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[5.885s] [ext: omni.isaac.quadruped-1.4.1] startup
[5.893s] [ext: semantics.schema.property-1.0.2] startup
[5.894s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[5.895s] [ext: omni.isaac.scene_blox-0.1.0] startup
[5.896s] [ext: omni.importer.urdf-1.6.1] startup
[5.925s] [ext: omni.importer.mjcf-1.1.0] startup
[5.931s] [ext: omni.kit.window.stats-0.1.4] startup
[5.932s] [ext: omni.isaac.sim.python-2023.1.1] startup
[5.932s] Simulation App Starting
2023-12-28 01:04:10 [5,939ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2023-12-28 01:04:10 [5,939ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2023-12-28 01:04:10 [5,939ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2023-12-28 01:04:10 [5,939ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2023-12-28 01:04:10 [5,939ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2023-12-28 01:04:10 [5,939ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2023-12-28 01:04:11 [6,910ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-28 01:04:11 [6,910ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[7.607s] app ready
2023-12-28 01:04:12 [7,943ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-28 01:04:12 [7,943ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[8.134s] RTX ready
[8.275s] Simulation App Startup Complete
2023-12-28 01:04:13 [9,106ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2023-12-28 01:04:13 [9,106ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2023-12-28 01:04:13 [9,106ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2023-12-28 01:04:13 [9,106ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2023-12-28 01:04:13 [9,108ms] [Warning] [omni.importer.urdf] Link base_fixture_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:04:13 [9,109ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:04:13 [9,188ms] [Warning] [omni.importer.urdf] Link flange has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:04:13 [9,189ms] [Warning] [omni.importer.urdf] Link tool0 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:04:13 [9,191ms] [Warning] [omni.importer.urdf] Link base_link_1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:04:13 [9,265ms] [Warning] [omni.importer.urdf] Link flange_1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:04:13 [9,266ms] [Warning] [omni.importer.urdf] Link tool1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
Traceback (most recent call last):
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 354, in <module>
main()
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 118, in main
robot, robot_prim_path = add_robot_to_scene(robot_cfg, my_world)
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/helper.py", line 115, in add_robot_to_scene
robot_p.set_solver_velocity_iteration_count(4)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation.py", line 981, in set_solver_velocity_iteration_count
self._articulation_view.set_solver_velocity_iteration_counts(count)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 3243, in set_solver_velocity_iteration_counts
set_prim_property(self.prim_paths[i], "physxArticulation:solverVelocityIterationCount", counts[read_idx])
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/prims.py", line 802, in set_prim_property
prim.GetAttribute(property_name).Set(property_value)
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved__::UsdStage::_SetValueImpl' at line 6174 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp : 'Empty typeName for </World/ur10e_robot.physxArticulation:solverVelocityIterationCount>'
2023-12-28 01:04:13 [9,279ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2023-12-28 01:04:13 [9,281ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:04:13 [9,282ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2023-12-28 01:04:13 [9,294ms] [Warning] [carb.audio.context] 1 contexts were leaked
2023-12-28 01:04:13 [9,349ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2023-12-28 01:04:13 [9,361ms] [Warning] [omni.core.ITypeFactory] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$
After I commented out the Line 115 and Line 116, Isaac Sim could start normally and load the robot arm (omni_python examples/isaac_sim/multi_arm_reacher.py --robot dual_ur10e.yml), but the Isaac Sim crashed after clicking the play button.
[7.482s] app ready
2023-12-28 01:08:12 [7,816ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-28 01:08:12 [7,816ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[7.952s] RTX ready
[8.180s] Simulation App Startup Complete
2023-12-28 01:08:13 [9,014ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2023-12-28 01:08:13 [9,014ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2023-12-28 01:08:13 [9,014ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2023-12-28 01:08:13 [9,014ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2023-12-28 01:08:13 [9,015ms] [Warning] [omni.importer.urdf] Link base_fixture_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:08:13 [9,016ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:08:13 [9,095ms] [Warning] [omni.importer.urdf] Link flange has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:08:13 [9,096ms] [Warning] [omni.importer.urdf] Link tool0 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:08:13 [9,097ms] [Warning] [omni.importer.urdf] Link base_link_1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:08:13 [9,169ms] [Warning] [omni.importer.urdf] Link flange_1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:08:13 [9,171ms] [Warning] [omni.importer.urdf] Link tool1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
warming up...
Curobo is Ready
[15.392s] [ext: omni.kit.asset_converter-2.0.18] startup
[15.409s] [ext: omni.kit.tool.asset_importer-2.4.28] startup
[15.445s] [ext: omni.isaac.asset_browser-0.4.3] startup
2023-12-28 01:08:40 [35,828ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 354, in <module>
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 165, in main
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 225, in add_default_ground_plane
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 572, in get_assets_root_path
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 192, in check_server
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/extscore/omni.client/omni/client/__init__.py", line 158, in stat
2023-12-28 01:10:33 [148,722ms] [Warning] [omni.hydra] Mesh '/World/obstacles/table_mesh' has corrupted data in primvar 'displayColor': buffer size 8 doesn't match expected size 36 in faceVarying primvars
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
2023-12-28 01:10:45 [161,003ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/ur10e_robot'
2023-12-28 01:10:45 [161,003ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2023-12-28 01:10:45 [161,004ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/ur10e_robot'
2023-12-28 01:10:45 [161,004ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/ur10e_robot' did not match any articulations
Traceback (most recent call last):
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 354, in <module>
main()
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 219, in main
my_world.reset()
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 408, in reset
self._scene._finalize(self.physics_sim_view)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 322, in _finalize
robot.initialize(physics_sim_view)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation.py", line 294, in initialize
self._articulation_view.initialize(physics_sim_view=physics_sim_view)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 349, in initialize
assert self._physics_view.is_homogeneous
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extsPhysics/omni.physics.tensors-105.1.12-5.1/omni/physics/tensors/impl/api.py", line 170, in is_homogeneous
return self._backend.is_homogeneous
AttributeError: 'NoneType' object has no attribute 'is_homogeneous'
2023-12-28 01:10:45 [161,012ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2023-12-28 01:10:45 [161,013ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:10:45 [161,014ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2023-12-28 01:10:45 [161,016ms] [Warning] [carb.audio.context] 1 contexts were leaked
2023-12-28 01:10:45 [161,039ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2023-12-28 01:10:45 [161,046ms] [Warning] [omni.core.ITypeFactory] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$
from curobo.
balakumar-s
commented on September 15, 2024
I wanted to check if you installed usd-core which you should not. Can you uninstall usd-core?
from curobo.
im-renpei
commented on September 15, 2024
I wanted to check if you installed usd-core which you should not. Can you uninstall usd-core?
Hi @balakumar-s , usd-core has been remove from Isaac Sim Python environment, but the problem is still the same (omni_python examples/isaac_sim/multi_arm_reacher.py --robot dual_ur10e.ym).
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$ omni_python -m pip uninstall usd-core
Found existing installation: usd-core 23.11
Uninstalling usd-core-23.11:
Would remove:
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/pxr/*
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core-23.11.dist-info/*
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libboost_python310-4bf84c61.so.1.78.0
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libtbb-3671e415.so.2
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_ar-f362f49a.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_arch-1f71a0ba.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_gf-5f8a4fe0.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_js-0d9c36ea.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_kind-03377bb6.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_ndr-e96f1be7.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_pcp-fe277e2d.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_plug-d7ac7d2b.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_sdf-ec6b5caf.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_sdr-f9e9ed64.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_tf-74256c82.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_trace-03be69d7.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usd-fc6e088b.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdGeom-98925d03.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdHydra-32f39d72.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdLux-f018e4c3.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdMedia-19200e15.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdPhysics-feaf1a3b.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdProc-f9b0f2b2.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdRender-30f27dff.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdRi-01a85c2c.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdShade-09400a59.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdSkel-8529d519.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdUI-85a91a62.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdUtils-1cef7cf7.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_usdVol-d2f19872.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_vt-e5fa06d1.so
/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/usd_core.libs/libusd_work-feb657a8.so
Proceed (Y/n)? Y
Successfully uninstalled usd-core-23.11
[5.582s] [ext: omni.kit.stage_column.payload-1.0.12] startup
[5.583s] [ext: omni.graph.ui_nodes-1.5.10] startup
[5.603s] [ext: omni.sensors.nv.common-1000.0.0-isaacsim.2023.1.1] startup
[5.609s] [ext: omni.sensors.nv.materials-1000.0.0-isaacsim.2023.1.1] startup
[5.610s] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] startup
2023-12-28 01:20:27 [5,603ms] [Error] [carb] [Plugin: libnvwpm2_factory.plugin.so] Could not load the dynamic library from /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm2_factory.plugin.so. Error: libnvrtc.so.11.2: cannot open shared object file: No such file or directory (Additional information may be available by running the process with the LD_DEBUG environment variable set)
2023-12-28 01:20:27 [5,603ms] [Warning] [carb] Potential plugin preload failed: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm2_factory.plugin.so
2023-12-28 01:20:27 [5,603ms] [Error] [omni.ext.plugin] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] failed to load native plugin: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm2_factory.plugin.so
2023-12-28 01:20:27 [5,603ms] [Error] [carb] [Plugin: libnvwpm_factory.plugin.so] Could not load the dynamic library from /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm_factory.plugin.so. Error: libnvrtc.so.11.2: cannot open shared object file: No such file or directory (Additional information may be available by running the process with the LD_DEBUG environment variable set)
2023-12-28 01:20:27 [5,603ms] [Warning] [carb] Potential plugin preload failed: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm_factory.plugin.so
2023-12-28 01:20:27 [5,603ms] [Error] [omni.ext.plugin] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] failed to load native plugin: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1+lx64.r/bin/libnvwpm_factory.plugin.so
[5.611s] [ext: omni.kit.window.status_bar-0.1.6] startup
[5.615s] [ext: omni.physx.bundle-105.1.12-5.1] startup
[5.615s] [ext: omni.graph.bundle.action-2.0.4] startup
[5.615s] [ext: omni.isaac.range_sensor-2.0.2] startup
[5.645s] [ext: omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1] startup
2023-12-28 01:20:27 [5,641ms] [Error] [carb] [Plugin: libomni.sensors.nv.lidar.rtxmodel_lidar_core.plugin.so] Could not load the dynamic library from /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1+lx64.r.cp310/bin/libomni.sensors.nv.lidar.rtxmodel_lidar_core.plugin.so. Error: libnvrtc.so.11.2: cannot open shared object file: No such file or directory (Additional information may be available by running the process with the LD_DEBUG environment variable set)
2023-12-28 01:20:27 [5,641ms] [Warning] [carb] Potential plugin preload failed: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1+lx64.r.cp310/bin/libomni.sensors.nv.lidar.rtxmodel_lidar_core.plugin.so
2023-12-28 01:20:27 [5,641ms] [Error] [omni.ext.plugin] [ext: omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1] failed to load native plugin: /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1+lx64.r.cp310/bin/libomni.sensors.nv.lidar.rtxmodel_lidar_core.plugin.so
[5.649s] [ext: omni.sensors.nv.radar-1000.0.0-isaacsim.2023.1.1] startup
[5.653s] [ext: omni.kit.window.title-1.1.3] startup
[5.654s] [ext: omni.replicator.composer-1.2.17] startup
[5.666s] [ext: omni.replicator.isaac-1.11.3] startup
[5.683s] [ext: omni.kit.manipulator.camera-105.0.4] startup
[5.685s] [ext: omni.kit.viewport.menubar.camera-105.1.9] startup
[5.689s] [ext: omni.isaac.sensor-9.11.1] startup
[5.736s] [ext: omni.kit.viewport.menubar.render-105.1.1] startup
[5.738s] [ext: omni.kit.viewport.menubar.settings-105.0.9] startup
[5.741s] [ext: omni.replicator.replicator_yaml-2.0.4] startup
[5.747s] [ext: omni.rtx.settings.core-0.5.13] startup
[5.750s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[5.751s] [ext: omni.isaac.quadruped-1.4.1] startup
[5.759s] [ext: semantics.schema.property-1.0.2] startup
[5.761s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[5.761s] [ext: omni.isaac.scene_blox-0.1.0] startup
[5.762s] [ext: omni.importer.urdf-1.6.1] startup
[5.791s] [ext: omni.importer.mjcf-1.1.0] startup
[5.797s] [ext: omni.kit.window.stats-0.1.4] startup
[5.798s] [ext: omni.isaac.sim.python-2023.1.1] startup
[5.799s] Simulation App Starting
2023-12-28 01:20:27 [5,806ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2023-12-28 01:20:27 [5,807ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2023-12-28 01:20:27 [5,807ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2023-12-28 01:20:27 [5,807ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2023-12-28 01:20:27 [5,807ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2023-12-28 01:20:27 [5,807ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2023-12-28 01:20:28 [6,758ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-28 01:20:28 [6,758ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[7.466s] app ready
2023-12-28 01:20:29 [7,823ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-28 01:20:29 [7,823ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[7.946s] RTX ready
[8.178s] Simulation App Startup Complete
2023-12-28 01:20:30 [9,007ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2023-12-28 01:20:30 [9,007ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2023-12-28 01:20:30 [9,007ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2023-12-28 01:20:30 [9,007ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2023-12-28 01:20:30 [9,008ms] [Warning] [omni.importer.urdf] Link base_fixture_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:20:30 [9,010ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:20:30 [9,090ms] [Warning] [omni.importer.urdf] Link flange has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:20:30 [9,091ms] [Warning] [omni.importer.urdf] Link tool0 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:20:30 [9,093ms] [Warning] [omni.importer.urdf] Link base_link_1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:20:30 [9,167ms] [Warning] [omni.importer.urdf] Link flange_1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2023-12-28 01:20:30 [9,168ms] [Warning] [omni.importer.urdf] Link tool1 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
warming up...
Curobo is Ready
[15.194s] [ext: omni.kit.asset_converter-2.0.18] startup
[15.210s] [ext: omni.kit.tool.asset_importer-2.4.28] startup
[15.247s] [ext: omni.isaac.asset_browser-0.4.3] startup
2023-12-28 01:20:57 [35,618ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 354, in <module>
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 165, in main
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 225, in add_default_ground_plane
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 572, in get_assets_root_path
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 192, in check_server
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/extscore/omni.client/omni/client/__init__.py", line 158, in stat
2023-12-28 01:22:49 [148,160ms] [Warning] [omni.hydra] Mesh '/World/obstacles/table_mesh' has corrupted data in primvar 'displayColor': buffer size 8 doesn't match expected size 36 in faceVarying primvars
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
**** Click Play to start simulation *****
2023-12-28 01:22:58 [156,617ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/ur10e_robot'
2023-12-28 01:22:58 [156,617ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2023-12-28 01:22:58 [156,617ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/ur10e_robot'
2023-12-28 01:22:58 [156,617ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/ur10e_robot' did not match any articulations
Traceback (most recent call last):
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 354, in <module>
main()
File "/home/eai/rp/build_curobo/for_isaac_sim/curobo/examples/isaac_sim/multi_arm_reacher.py", line 219, in main
my_world.reset()
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 408, in reset
self._scene._finalize(self.physics_sim_view)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 322, in _finalize
robot.initialize(physics_sim_view)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation.py", line 294, in initialize
self._articulation_view.initialize(physics_sim_view=physics_sim_view)
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 349, in initialize
assert self._physics_view.is_homogeneous
File "/home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/extsPhysics/omni.physics.tensors-105.1.12-5.1/omni/physics/tensors/impl/api.py", line 170, in is_homogeneous
return self._backend.is_homogeneous
AttributeError: 'NoneType' object has no attribute 'is_homogeneous'
2023-12-28 01:22:58 [156,626ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2023-12-28 01:22:58 [156,627ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2023-12-28 01:22:58 [156,628ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2023-12-28 01:22:58 [156,630ms] [Warning] [carb.audio.context] 1 contexts were leaked
2023-12-28 01:22:58 [156,668ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2023-12-28 01:22:58 [156,675ms] [Warning] [omni.core.ITypeFactory] Module /home/eai/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
eai@eai-Z790-UD-AX:~/rp/build_curobo/for_isaac_sim/curobo$
from curobo.
balakumar-s
commented on September 15, 2024
I don't know what's happening in your machine. We won't be able to test on Isaac Sim 2023.1.1 soon.
I would advise to use Isaac sim 2023.1.0 where we know for sure that everything works.
We also advise to use a docker following https://curobo.org/source/getting_started/5_docker_development.html as that helps us reproduce any errors you get.
from curobo.
Related Issues (20)
- Even for simple end effector approaching "straight-line motion," Curubo still plans very distant and laborious trajectories.
- Encounter Runtime Error CUDA error invalid argument while trying "Motion Generation" example HOT 3
- How to initiate the base position of robot
- Does cuRobo support robot with prismatic joint? HOT 2
- Fail to configure cumotion
- Inconsistent Data Handling in get_spline_interpolated_trajectory Function
- Configuring a new robot HOT 1
- AttributeError: 'CudaRobotModel' object has no attribute 'attach_object' in trajopt.py
- Curobo collision geometry differs from IsaacSim approximation
- curobo failed to parse urdf HOT 1
- UR5 robot does not work motion_gen_reacher.py HOT 2
- Small bug in examples/isaac_sim/multi_arm_reacher.py (with fix)
- remove_obstacle() function seems to fail work
- Collision Mesh of curobo
- curobo/examples/isaac_sim/mpc_example.py can not run in isaac-sim 4.1.0-rc.7+
- isaac sim 4.1 examples error HOT 1
- example motion_gen_reacher.py error
- /nvblox_node/tsdf_layer and /curobo/voxels seem to have an offset?
- Incorrect number of gradients in backward functions in curobo/src/curobo/geom/transform.py
- isaac sim crashed when run "omni_python examples/isaac_sim/motion_gen_reacher.py to run a motion generation example"
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from curobo.