JenniferBuehler
commented
2 weeks ago I can confirm that I am experiencing the same. I'm on Ubuntu 22.04, python 3.10.12, and downloaded Isaac 2023.1.1 just yesterday from Omniverse. I get the same for 2023.0.1-hotfix as well.
For examples/isaac_sim/motion_gen_reacher.py I get what you do:
Traceback (most recent call last):
File "/home/jenny/omni/curobo/examples/isaac_sim/motion_gen_reacher.py", line 437, in <module>
main()
File "/home/jenny/omni/curobo/examples/isaac_sim/motion_gen_reacher.py", line 213, in main
motion_gen_config = MotionGenConfig.load_from_robot_config(
File "/home/jenny/omni/curobo/src/curobo/wrap/reacher/motion_gen.py", line 642, in load_from_robot_config
ik_solver_cfg = IKSolverConfig.load_from_robot_config(
File "/home/jenny/.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/jenny/omni/curobo/src/curobo/wrap/reacher/ik_solver.py", line 316, in load_from_robot_config
arm_rollout_mppi = ArmReacher(cfg)
File "/home/jenny/.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/jenny/omni/curobo/src/curobo/rollout/arm_reacher.py", line 167, in __init__
ArmBase.__init__(self)
File "/home/jenny/.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/jenny/omni/curobo/src/curobo/rollout/arm_base.py", line 233, in __init__
self._init_after_config_load()
File "/home/jenny/.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/jenny/omni/curobo/src/curobo/rollout/arm_base.py", line 324, in _init_after_config_load
self.null_convergence = DistCost(self.convergence_cfg.null_space_cfg)
File "/home/jenny/omni/curobo/src/curobo/rollout/cost/dist_cost.py", line 343, in __init__
self._l2_dof_kernel = make_l2_kernel(self.dof)
File "/home/jenny/omni/curobo/src/curobo/rollout/cost/dist_cost.py", line 227, in make_l2_kernel
return wp.Kernel(forward_l2_loop_warp)
TypeError: Kernel.__init__() missing 2 required positional arguments: 'key' and 'module'And for collision_checker.py it's actually a different one (right after hitting play):
File "/home/jenny/omni/curobo/examples/isaac_sim/collision_checker.py", line 205, in <module>
main()
File "/home/jenny/omni/curobo/examples/isaac_sim/collision_checker.py", line 179, in main
d, d_vec = model.get_collision_vector(x_sph)
File "/home/jenny/omni/curobo/src/curobo/wrap/model/robot_world.py", line 244, in get_collision_vector
d = self.collision_cost.forward(x_sph, env_query_idx=env_query_idx)
File "/home/jenny/omni/curobo/src/curobo/rollout/cost/primitive_collision_cost.py", line 179, in discrete_fn
dist = self.coll_check_fn(
File "/home/jenny/omni/curobo/src/curobo/geom/sdf/world_mesh.py", line 435, in get_sphere_distance
d = self._get_sdf(
File "/home/jenny/omni/curobo/src/curobo/geom/sdf/world_mesh.py", line 361, in _get_sdf
d = SdfMeshWarpPy.apply(
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.pip.torch-2_0_1-2.0.2+105.1.lx64/torch-2-0-1/torch/autograd/function.py", line 506, in apply
return super().apply(*args, **kwargs) # type: ignore[misc]
File "/home/jenny/omni/curobo/src/curobo/geom/sdf/warp_primitives.py", line 538, in forward
wp.launch(
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/context.py", line 3358, in launch
if not module.load(device):
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/context.py", line 1388, in load
builder = ModuleBuilder(self, self.options)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/context.py", line 1041, in __init__
self.build_function(f)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/context.py", line 1087, in build_function
func.adj.build(self)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 551, in build
raise e
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 542, in build
adj.eval(adj.tree.body[0])
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 1766, in eval
return emit_node(adj, node)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 1054, in emit_FunctionDef
adj.eval(f)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 1766, in eval
return emit_node(adj, node)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 1633, in emit_Assign
rhs = adj.eval(node.value)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 1766, in eval
return emit_node(adj, node)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 1479, in emit_Call
out = adj.add_call(func=func, args=args, kwds=kwds, templates=templates, min_outputs=min_outputs)
File "/home/jenny/.local/share/ov/pkg/isaac-sim-2023.1.1/extscache/omni.warp.core-1.0.0-beta.2/warp/codegen.py", line 779, in add_call
raise Exception(
Exception: Error while parsing function "mesh_query_point_fn" at /home/jenny/omni/curobo/src/curobo/geom/sdf/warp_primitives.py:25:
collide_result = wp.mesh_query_point(idx, point, max_distance)
Couldn't find function overload for 'mesh_query_point' that matched inputs with types: [uint64, vec3f, float32]One thing to note is that I could not have installed cuRobo without installing usd-core first, as it was not installed in the isaac python environment. I got an error message with the installation omni_python -m pip install -e .[isaacsim] --no-build-isolation that it was a missing dependency, and then installed it, but I had to take a wild guess at the version number, which had to be < 24.00 so I picked the release before that:
omni-python pip install usd-core==23.11Did you have to do that too?
If I would guess (I'm new to this code base so it's just a guess really), that sounds like it could potentially relate to the second error, at least it's calling a file that contains the word core ;)
I have unfortunately only very limited time this week and I will probably have to move past the examples, but if I hit the same issues in my other use case, I will report here that it is an issue beyond just the examples (and the fix if I find it).
chiawenwang
balakumar-s
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:
tried running the example file after a successful installation but on running this example
omni_python examples/isaac_sim/collision_checker_example.py, isaac sim crashes on pressing play. Also tried the motion generation example with both franka and ur5e but the isaac sim window immediately crashes after launching. This shows up in the terminal with a Could not find category 'Replicator:Annotators' warning.