balakumar-s
commented
4 months ago Did you make any changes to simple_stacking.py?
Open lihsinn opened 4 months ago
balakumar-s
commented
4 months ago Did you make any changes to simple_stacking.py?
lihsinn
commented
4 months ago @balakumar-s Change the 'Franka' class to my robot class and update the related YAML file. Also, comment out the lines 'articulation_controller.set_gains' and 'articulation_controller.set_max_efforts', that's all!
balakumar-s
commented
3 months ago Does your robot work with other examples like examples/isaac_sim/motion_gen_reacher.py ?
frederiknolte
commented
1 month ago I am having the same problem. I also replaced the Franka Panda with a different robot but even if I put the Panda back in it still does not work. Interestingly, the bug is not consistent. It sometimes happens, and sometimes doesn't.
balakumar-s
commented
1 month ago Have you tried with the latest commit? We pushed a CUDA kernel fix that might resolve this issue.
frederiknolte
commented
1 month ago It seems to be resolved for now. Could be due to having restarted the docker container or could be due to the CUDA kernel fix - I will see. Either way, thank you!
frederiknolte
commented
1 month ago The problem came back. Could you please reopen the issue? I first ran my code without problems. Then I wanted to check the result of an earlier computation in the code and restarted the execution and the bug appeared again. Nothing changed in-between the two executions.
balakumar-s
commented
1 month ago After pulling the latest main, did you run pip install -e . --no-build-isolation?
frederiknolte
commented
1 month ago My dockerfile is based on the one provided in this repo, so the command is pip install .[dev] --no-build-isolation.
Also, I played around with the IK solver and noticed that when specifying the problem shape incorrectly (e.g. having a target position of shape [5, 100, 3]) and calling a solve function that only supports a different shape (in this case solve_batch_env), there is no meaningful check or error message but it goes straight to illegal memory access.
I restarted the docker container and it works again (if the shapes are correct of course).
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
I ran the simple_stacking.py code and encountered a CUDA error when I changed it to my own robot.
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[ext: omni.kit.manipulator.selector-1.0.1] startup [3.613s] [ext: omni.kit.window.commands-0.2.4] startup [3.614s] [ext: omni.kit.window.console-0.2.10] startup [3.623s] [ext: omni.kit.property.physx-0.1.0] startup [3.671s] [ext: omni.kit.actions.window-1.1.0] startup [3.674s] [ext: omni.physx.demos-105.1.12-5.1] startup [3.677s] [ext: omni.kit.manipulator.prim-105.0.11] startup [3.682s] [ext: omni.kit.window.toolbar-1.5.4] startup [3.684s] [ext: omni.kit.manipulator.selection-104.0.8] startup [3.686s] [ext: omni.kit.window.script_editor-1.7.4] startup [3.688s] [ext: omni.kit.hotkeys.window-1.4.1] startup [3.691s] [ext: omni.physx.camera-105.1.12-5.1] startup [3.698s] [ext: omni.physx.cct-105.1.12-5.1] startup [3.709s] [ext: omni.physx.graph-105.1.12-5.1] startup [3.719s] [ext: omni.physx.supportui-105.1.12-5.1] startup [3.731s] [ext: omni.physx.vehicle-105.1.12-5.1] startup [3.741s] [ext: omni.kit.stage_column.payload-1.0.12] startup [3.743s] [ext: omni.graph.ui_nodes-1.5.10] startup 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[ext: omni.kit.viewport.menubar.settings-105.0.9] startup [3.923s] [ext: omni.replicator.replicator_yaml-2.0.4] startup [3.931s] [ext: omni.rtx.settings.core-0.5.13] startup [3.934s] [ext: omni.kit.stage_column.variant-1.0.13] startup [3.936s] [ext: omni.isaac.quadruped-1.4.1] startup [3.945s] [ext: semantics.schema.property-1.0.2] startup [3.947s] [ext: omni.kit.viewport.bundle-104.0.1] startup [3.947s] [ext: omni.isaac.scene_blox-0.1.0] startup [3.949s] [ext: omni.importer.urdf-1.6.1] startup [3.982s] [ext: omni.importer.mjcf-1.1.0] startup [3.990s] [ext: omni.kit.window.stats-0.1.4] startup [3.991s] [ext: omni.isaac.sim.python-2023.1.1] startup [3.992s] Simulation App Starting 2024-04-19 05:29:59 [4,002ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available 2024-04-19 05:29:59 [4,002ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available 2024-04-19 05:29:59 [4,002ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available 2024-04-19 05:29:59 [4,002ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available 2024-04-19 05:29:59 [4,002ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available 2024-04-19 05:29:59 [4,003ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available 2024-04-19 05:30:00 [4,889ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play! 2024-04-19 05:30:00 [4,889ms] [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 [6.010s] app ready 2024-04-19 05:30:01 [6,464ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play! 2024-04-19 05:30:01 [6,464ms] [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 [6.690s] RTX ready [6.853s] Simulation App Startup Complete my_task = MultiModalStacking() my_world.add_task(my_task) 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_5/visuals' has corrupted data in primvar 'st_2': buffer size 1602 doesn't match expected size 92748 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_5/visuals' has corrupted data in primvar 'st_1': buffer size 12261 doesn't match expected size 92748 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_5/visuals' has corrupted data in primvar 'st': buffer size 78885 doesn't match expected size 92748 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_4/visuals' has corrupted data in primvar 'st_2': buffer size 1602 doesn't match expected size 93852 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_3/visuals' has corrupted data in primvar 'st_3': buffer size 1116 doesn't match expected size 56562 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_4/visuals' has corrupted data in primvar 'st_1': buffer size 13389 doesn't match expected size 93852 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_4/visuals' has corrupted data in primvar 'st': buffer size 78861 doesn't match expected size 93852 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_3/visuals' has corrupted data in primvar 'st_2': buffer size 10962 doesn't match expected size 56562 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_3/visuals' has corrupted data in primvar 'st_1': buffer size 6339 doesn't match expected size 56562 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_3/visuals' has corrupted data in primvar 'st': buffer size 38145 doesn't match expected size 56562 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_1/visuals' has corrupted data in primvar 'st_2': buffer size 1872 doesn't match expected size 98154 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_1/visuals' has corrupted data in primvar 'st_1': buffer size 14124 doesn't match expected size 98154 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_1/visuals' has corrupted data in primvar 'st': buffer size 82158 doesn't match expected size 98154 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_6/visuals' has corrupted data in primvar 'st_3': buffer size 144 doesn't match expected size 109944 in faceVarying primvars 2024-04-19 05:30:05 [9,929ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_2/visuals' has corrupted data in primvar 'st_2': buffer size 3456 doesn't match expected size 116106 in faceVarying primvars 2024-04-19 05:30:05 [9,930ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_6/visuals' has corrupted data in primvar 'st_2': buffer size 1434 doesn't match expected size 109944 in faceVarying primvars 2024-04-19 05:30:05 [9,930ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_2/visuals' has corrupted data in primvar 'st_1': buffer size 18303 doesn't match expected size 116106 in faceVarying primvars 2024-04-19 05:30:05 [9,930ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_6/visuals' has corrupted data in primvar 'st_1': buffer size 555 doesn't match expected size 109944 in faceVarying primvars 2024-04-19 05:30:05 [9,930ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_2/visuals' has corrupted data in primvar 'st': buffer size 94347 doesn't match expected size 116106 in faceVarying primvars 2024-04-19 05:30:05 [9,930ms] [Warning] [omni.hydra] Mesh '/World/tm12/link_6/visuals' has corrupted data in primvar 'st': buffer size 107811 doesn't match expected size 109944 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_10': buffer size 1770 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_11': buffer size 378 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_7': buffer size 1722 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_6': buffer size 10452 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_9': buffer size 54930 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_4': buffer size 28728 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_8': buffer size 12117 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_3': buffer size 518187 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_5': buffer size 36216 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_2': buffer size 1515 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,931ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st_1': buffer size 30030 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [9,932ms] [Warning] [omni.hydra] Mesh '/World/tm12/epick_base/visuals' has corrupted data in primvar 'st': buffer size 8556 doesn't match expected size 704601 in faceVarying primvars 2024-04-19 05:30:05 [10,068ms] [Warning] [omni.physx.plugin] The rigid body at /World/tm12/base has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. 2024-04-19 05:30:05 [10,068ms] [Warning] [omni.physx.plugin] The rigid body at /World/tm12/epick_ee has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. 2024-04-19 05:30:05 [10,068ms] [Warning] [omni.physx.plugin] The rigid body at /World/tm12/flange_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. 2024-04-19 05:30:05 [10,068ms] [Warning] [omni.physx.plugin] The rigid body at /World/tm12/world has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. 2024-04-19 05:30:05 [10,069ms] [Warning] [omni.physx.plugin] Detected an articulation at /World/tm12 with more than 4 velocity iterations being added to a TGS scene.The related behavior changed recently, please consult the changelog. This warning will only print once. warming up... Start simulation... TGS 124 4 False (array([5.729578e+08, 5.729578e+08, 5.729578e+08, 5.729578e+08, 5.729578e+08, 5.729578e+08], dtype=float32), array([5729578., 5729578., 5729578., 5729578., 5729578., 5729578.], dtype=float32)) [353. 353. 157. 54. 54. 54.]
Updated gains: (array([5.729578e+08, 5.729578e+08, 5.729578e+08, 5.729578e+08, 5.729578e+08, 5.729578e+08], dtype=float32), array([5729578., 5729578., 5729578., 5729578., 5729578., 5729578.], dtype=float32)) [353. 353. 157. 54. 54. 54.] [20.885s] [ext: omni.kit.asset_converter-2.0.18] startup [20.907s] [ext: omni.kit.tool.asset_importer-2.4.28] startup [20.951s] [ext: omni.isaac.asset_browser-0.4.3] startup 2024-04-19 05:30:25 [30,534ms] [Warning] [curobo] Creating new Mesh cache: 16 Traceback (most recent call last): File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/examples/isaac_sim/simple_stacking_tm12.py", line 545, in
art_action = my_controller.forward(sim_js, my_tm12.dof_names)
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/examples/isaac_sim/simple_stacking_tm12.py", line 262, in forward
result = self.plan(ee_translation_goal, ee_orientation_goal, sim_js, js_names)
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/examples/isaac_sim/simple_stacking_tm12.py", line 229, in plan
result = self.motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, self.plan_config.clone())
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1395, in plan_single
result = self._plan_attempts(
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1193, in _plan_attempts
result = self._plan_from_solve_state(
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1511, in _plan_from_solve_state
ik_result = self._solve_ik_from_solve_state(
File "/home/lily/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/contextlib.py", line 79, in inner
return func(*args, **kwds)
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1020, in _solve_ik_from_solve_state
ik_result = self.ik_solver.solve_any(
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/reacher/ik_solver.py", line 1160, in solve_any
return self.solve_single(
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/reacher/ik_solver.py", line 654, in solve_single
return self._solve_from_solve_state(
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/reacher/ik_solver.py", line 1043, in _solve_from_solve_state
result = self.solver.solve(goal_buffer, coord_position_seed)
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/wrap_base.py", line 147, in solve
act_seq = self.optimize(seed, shift_steps=0)
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/wrap/wrap_base.py", line 71, in optimize
act_seq = opt.optimize(act_seq, shift_steps)
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/opt/opt_base.py", line 170, in optimize
out = self._optimize(opt_tensor, shift_steps, n_iters)
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/opt/newton/newton_base.py", line 146, in _optimize
best_q, best_cost, q, grad_q = self._call_opt_iters_graph(q, grad_q)
File "/home/lily/Desktop/20230605_Job_Techman_Project/01_Omniverse_IsaacSim/02_Robotics_Simulator/2024Q2_curobo/curobo/src/curobo/opt/newton/newton_base.py", line 521, in _call_opt_iters_graph
self._cu_opt_q.clone(),
RuntimeError: CUDA error: an illegal memory access was encountered
Compile with
TORCH_USE_CUDA_DSAto enable device-side assertions.