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OpenRobotLab / GRUtopia

GRUtopia: Dream General Robots in a City at Scale
https://grutopia.github.io
MIT License
518 stars 26 forks source link

question when trying tutorials #19

Closed ykx3 closed 2 months ago

ykx3 commented 2 months ago

i follow the tutorial in this, but i got a warning and it didn't work in my chorme. Could you give me some help?

[48.224s] Simulation App Startup Complete
[48.252s] [ext: omni.kit.renderer.cuda_interop-1.0.1] startup
[48.263s] [ext: omni.kit.livestream.core-2.3.0] startup
[48.266s] [ext: omni.services.facilities.base-1.0.4] startup
[48.269s] [ext: omni.services.core-1.6.4] startup
[48.467s] [ext: omni.services.transport.server.base-1.1.1] startup
[48.470s] [ext: omni.kit.streamsdk.plugins-2.5.2] startup
[48.470s] [ext: omni.services.transport.server.http-1.3.0] startup
[2024-09-02 11:17:33,048][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:76] -: Looking for Python nodes to register in omni.services.transport.server.http-1.3.0
[2024-09-02 11:17:33,049][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:101] -:  -> Registered nodes from module omni.services.transport.server.http at /isaac-sim/extscache/omni.services.transport.server.http-1.3.0
[2024-09-02 11:17:33,049][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/registration.py[line:30] -: Registering nodes in /isaac-sim/extscache/omni.services.transport.server.http-1.3.0 imported as omni.services.transport.server.http
[2024-09-02 11:17:33,049][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:66] -: Registering Python Node Types from omni.services.transport.server.http at /isaac-sim/extscache/omni.services.transport.server.http-1.3.0 in omni.services.transport.server.http
[2024-09-02 11:17:33,049][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:67] -: ========================================================================================================================
[2024-09-02 11:17:33,050][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/extension_management.py[line:138] -: No dependency on omni.graph, therefore no nodes to register in omni.services.transport.server.http
[2024-09-02 11:17:33,050][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:72] -: ...None found, no registration to do
[2024-09-02 11:17:33,050][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:111] -: ...Skipping: No OmniGraph presence in the module omni.services.transport.server.http - No nodes in this module, do not remember it
[2024-09-02 11:17:33,050][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:120] -: OGN register omni.services.transport.server.http-1.3.0 took 1449085.000000
[48.511s] [ext: omni.kit.livestream.webrtc-2.3.2] startup

Failed to open [/var/run/utmp]
Active user not found. Using default user [kiosk]Streaming server started.
[2024-09-02 11:17:33,344][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:76] -: Looking for Python nodes to register in omni.kit.livestream.webrtc-2.3.2
[2024-09-02 11:17:33,345][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:101] -:  -> Registered nodes from module omni.kit.livestream.webrtc at /isaac-sim/extscache/omni.kit.livestream.webrtc-2.3.2+105.1.lx64.r.cp310
[2024-09-02 11:17:33,345][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/registration.py[line:30] -: Registering nodes in /isaac-sim/extscache/omni.kit.livestream.webrtc-2.3.2+105.1.lx64.r.cp310 imported as omni.kit.livestream.webrtc
[2024-09-02 11:17:33,346][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:66] -: Registering Python Node Types from omni.kit.livestream.webrtc at /isaac-sim/extscache/omni.kit.livestream.webrtc-2.3.2+105.1.lx64.r.cp310 in omni.kit.livestream.webrtc
[2024-09-02 11:17:33,346][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:67] -: ========================================================================================================================
[2024-09-02 11:17:33,349][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/extension_management.py[line:138] -: No dependency on omni.graph, therefore no nodes to register in omni.kit.livestream.webrtc
[2024-09-02 11:17:33,349][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:72] -: ...None found, no registration to do
[2024-09-02 11:17:33,349][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:111] -: ...Skipping: No OmniGraph presence in the module omni.kit.livestream.webrtc - No nodes in this module, do not remember it
[2024-09-02 11:17:33,350][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:120] -: OGN register omni.kit.livestream.webrtc-2.3.2 took 4897760.000000
[48.811s] [ext: omni.services.streaming.manager-0.3.10] startup
[2024-09-02 11:17:33,365][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:76] -: Looking for Python nodes to register in omni.services.streaming.manager-0.3.10
[2024-09-02 11:17:33,366][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:101] -:  -> Registered nodes from module omni.services.streaming.manager at /isaac-sim/extscache/omni.services.streaming.manager-0.3.10
[2024-09-02 11:17:33,366][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/registration.py[line:30] -: Registering nodes in /isaac-sim/extscache/omni.services.streaming.manager-0.3.10 imported as omni.services.streaming.manager
[2024-09-02 11:17:33,366][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:66] -: Registering Python Node Types from omni.services.streaming.manager at /isaac-sim/extscache/omni.services.streaming.manager-0.3.10 in omni.services.streaming.manager
[2024-09-02 11:17:33,366][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:67] -: ========================================================================================================================
[2024-09-02 11:17:33,367][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/extension_management.py[line:138] -: No dependency on omni.graph, therefore no nodes to register in omni.services.streaming.manager
[2024-09-02 11:17:33,367][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:72] -: ...None found, no registration to do
[2024-09-02 11:17:33,367][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:111] -: ...Skipping: No OmniGraph presence in the module omni.services.streaming.manager - No nodes in this module, do not remember it
[2024-09-02 11:17:33,367][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:120] -: OGN register omni.services.streaming.manager-0.3.10 took 1949666.000000
[48.829s] [ext: omni.services.streamclient.webrtc-1.3.8] startup
[2024-09-02 11:17:33,759][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:76] -: Looking for Python nodes to register in omni.services.streamclient.webrtc-1.3.8
[2024-09-02 11:17:33,760][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:101] -:  -> Registered nodes from module omni.services.streamclient.webrtc at /isaac-sim/extscache/omni.services.streamclient.webrtc-1.3.8
[2024-09-02 11:17:33,760][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/registration.py[line:30] -: Registering nodes in /isaac-sim/extscache/omni.services.streamclient.webrtc-1.3.8 imported as omni.services.streamclient.webrtc
[2024-09-02 11:17:33,760][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:66] -: Registering Python Node Types from omni.services.streamclient.webrtc at /isaac-sim/extscache/omni.services.streamclient.webrtc-1.3.8 in omni.services.streamclient.webrtc
[2024-09-02 11:17:33,760][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:67] -: ========================================================================================================================
[2024-09-02 11:17:33,762][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/extension_management.py[line:138] -: No dependency on omni.graph, therefore no nodes to register in omni.services.streamclient.webrtc
[2024-09-02 11:17:33,762][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py[line:72] -: ...None found, no registration to do
[2024-09-02 11:17:33,762][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:111] -: ...Skipping: No OmniGraph presence in the module omni.services.streamclient.webrtc - No nodes in this module, do not remember it
[2024-09-02 11:17:33,762][INFO] /isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/extension.py[line:120] -: OGN register omni.services.streamclient.webrtc-1.3.8 took 2343704.000000
[2024-09-02 11:17:34,423][DEBUG] /isaac-sim/.venv/lib/python3.10/site-packages/git/cmd.py[line:1253] -: Popen(['git', 'version'], cwd=/isaac-sim, stdin=None, shell=False, universal_newlines=False)
[2024-09-02 11:17:34,437][DEBUG] /isaac-sim/.venv/lib/python3.10/site-packages/git/cmd.py[line:1253] -: Popen(['git', 'version'], cwd=/isaac-sim, stdin=None, shell=False, universal_newlines=False)
[2024-09-02 11:17:34,536][DEBUG] /isaac-sim/GRUtopia/grutopia/core/runner.py[line:31] -: Simulator physics dt: 0.004166666666666667
2024-09-02 11:17:54 [70,193ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
  File "/isaac-sim/GRUtopia/try_gru/test.py", line 15, in <module>
  File "/isaac-sim/GRUtopia/grutopia/core/env.py", line 44, in __init__
  File "/isaac-sim/GRUtopia/grutopia/core/runner.py", line 39, in __init__
  File "/isaac-sim/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 225, in add_default_ground_plane
  File "/isaac-sim/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 572, in get_assets_root_path
  File "/isaac-sim/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 192, in check_server
  File "/isaac-sim/kit/extscore/omni.client/omni/client/__init__.py", line 158, in stat

2024-09-02 11:23:26 [401,412ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- In </World/defaultGroundPlane>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Grid/default_environment.usd@ for reference introduced by @anon:0x36dcf300:World0.usd@</World/defaultGroundPlane>. (recomposing stage on stage @anon:0x36dcf300:World0.usd@ <0x36c10a90>)

Traceback (most recent call last):
  File "/isaac-sim/GRUtopia/try_gru/test.py", line 15, in <module>
    env = BaseEnv(sim_config, headless=headless, webrtc=webrtc)
  File "/isaac-sim/GRUtopia/grutopia/core/env.py", line 44, in __init__
    self._runner = SimulatorRunner(config=config)
  File "/isaac-sim/GRUtopia/grutopia/core/runner.py", line 39, in __init__
    self._scene.add_default_ground_plane()
  File "/isaac-sim/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 239, in add_default_ground_plane
    plane = GroundPlane(prim_path=prim_path, name=name, z_position=z_position, physics_material=physics_material)
  File "/isaac-sim/exts/omni.isaac.core/omni/isaac/core/objects/ground_plane.py", line 111, in __init__
    collision_prim_path = get_prim_path(
  File "/isaac-sim/exts/omni.isaac.core/omni/isaac/core/utils/prims.py", line 628, in get_prim_path
    return prim.GetPath()
AttributeError: 'NoneType' object has no attribute 'GetPath'
2024-09-02 11:23:26 [401,447ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /isaac-sim/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-09-02 11:23:26 [401,452ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2024-09-02 11:23:26 [401,454ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,454ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-09-02 11:23:26 [401,455ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-09-02 11:23:26 [401,461ms] [Warning] [carb.audio.context] 1 contexts were leaked
2024-09-02 11:23:26 [401,639ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2024-09-02 11:23:26 [401,654ms] [Warning] [omni.core.ITypeFactory] Module /isaac-sim/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
HanqingWangAI commented 2 months ago

@ykx3 , it appears that you can not access the omniverse nucleus server, which causes the add_default_ground_plane function to fail. We would consider deprecating this function in the next version.

Is there any workaround available for this issue? @APX103

uzuku commented 2 months ago

@ykx3 you can remove the env section from config file to disable the behavior of add_default_ground_plane:

simulator: physics_dt: 1/240 rendering_dt: 1/240

env: bg_type: null

...

And you may use the scene_asset_path to specify scene asset path. You can refer to https://github.com/OpenRobotLab/GRUtopia/blob/6e20ccdff67faa4a485c93528b925829477a6ffb/demo/configs/h1_locomotion.yaml#L10 for the example scene.

ykx3 commented 2 months ago

thank for your help