Closed ligerfotis closed 2 months ago
ligerfotis
commented
2 months ago My apologies. This was not eventually an error that prevented Isaac gym from starting. Just because the different processes printed in the console in a random order I did not see the calibration file already exists. Do you want to create a new one? Press y for Yes else press Enter prompt, which waits for enter to be pressed to start the simulation.
Li-Zizhen
commented
2 months ago Hi, @ligerfotis . I am also facing the same issue with my Quest 3. In my Isaac Gym space, I can see it tracking my hand gestures in the upper left corner, but the hand in Isaac Gym doesn't move with my hands. It remains stuck with the end position:
End Effector Position [ 1.0002534e+00 8.7997133e-01 1.4123693e-04 -7.0756638e-01 7.0663381e-01 4.2378055e-03 -6.9278473e-04]Could you please let me know how you resolved this problem? I also see the message:
Calibration file already exists. Do you want to create a new one? Press y for Yes else press Enter
However, this is immediately followed by other commands, so it doesn't wait for me to press enter.
[Error] [carb.gym.plugin] Failed to resolve visual mesh '../meshes/table/robot_stand.obj'Also may I know Do you just ignore the error message?
ligerfotis
commented
1 month ago Hi! TL;DR: Just press enter when all threads are up and running.
There are a bunch of threads getting started and the terminal is filled with messages from everyone. One of them prompts you to what I have written above. That means it just wants you to press enter. I think you can ignore the messages for now or try to suppress them in the code.
I get the following error when running python3 teleop.py robot=allegro_sim sim_env=True. Any idea what may cause it? The directory /meshes/table/robot_stand.obj does not exist in the repo. The procedure I followed to install Isaac gym was:
conda env create -f env_isaac.ymland activate itpip install -e .python3 teleop.py robot=allegro_sim sim_env=TrueError Message
python3 teleop.py robot=allegro_sim sim_env=True *** Starting vr detector component *** *** Starting keypoint position transform component *** Importing module 'gym_37' (/home/fotis/Downloads/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_37.so) Setting GYM_USD_PLUG_INFO_PATH to /home/fotis/Downloads/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json Importing module 'gym_37' (/home/fotis/Downloads/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_37.so) Setting GYM_USD_PLUG_INFO_PATH to /home/fotis/Downloads/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json *** Starting hand 2D plotter component *** PyTorch version 1.13.1+cu117 Device count 1 /home/fotis/Downloads/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/src/gymtorch Using /home/fotis/.cache/torch_extensions/py37_cu117 as PyTorch extensions root... Emitting ninja build file /home/fotis/.cache/torch_extensions/py37_cu117/gymtorch/build.ninja... Building extension module gymtorch... Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N) ninja: no work to do. Loading extension module gymtorch... tcp://192.168.1.193:10005 tcp://192.168.1.193:11005 Trying to make simulation Not connected to PVD +++ Using GPU PhysX PyTorch version 1.13.1+cu117 Device count 1 /home/fotis/Downloads/IsaacGym_Preview_4_Package/isaacgym/python/isaacgym/_bindings/src/gymtorch Using /home/fotis/.cache/torch_extensions/py37_cu117 as PyTorch extensions root... Emitting ninja build file /home/fotis/.cache/torch_extensions/py37_cu117/gymtorch/build.ninja... Building extension module gymtorch... Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N) ninja: no work to do. Loading extension module gymtorch... Physics Engine: PhysX Physics Device: cuda:0 GPU Pipeline: disabled *** Starting allegro hand sim operator component *** /home/fotis/miniconda3/envs/openteach_isaac/lib/python3.7/site-packages/ikpy/chain.py:60: UserWarning: Link Base link (index: 0) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive warnings.warn("Link {} (index: {}) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive".format(link.name, link_index)) /home/fotis/miniconda3/envs/openteach_isaac/lib/python3.7/site-packages/ikpy/chain.py:60: UserWarning: Link joint_3.0_tip (index: 5) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive warnings.warn("Link {} (index: {}) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive".format(link.name, link_index)) /home/fotis/miniconda3/envs/openteach_isaac/lib/python3.7/site-packages/ikpy/chain.py:60: UserWarning: Link joint_7.0_tip (index: 5) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive warnings.warn("Link {} (index: {}) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive".format(link.name, link_index)) /home/fotis/miniconda3/envs/openteach_isaac/lib/python3.7/site-packages/ikpy/chain.py:60: UserWarning: Link joint_11.0_tip (index: 5) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive warnings.warn("Link {} (index: {}) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive".format(link.name, link_index)) /home/fotis/miniconda3/envs/openteach_isaac/lib/python3.7/site-packages/ikpy/chain.py:60: UserWarning: Link joint_15.0_tip (index: 5) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive warnings.warn("Link {} (index: {}) is of type 'fixed' but set as active in the active_links_mask. In practice, this fixed link doesn't provide any transformation so is as it were inactive".format(link.name, link_index))
*** Starting calibration component ***
Calibration file already exists. Do you want to create a new one? Press y for Yes else press EnterSimulation created Loading asset 'allegro_hand_description/urdf/model_only_hand.urdf' from '/home/fotis/PycharmProjects/Open-Teach/openteach/components/environment/assets/urdf/' [Error] [carb.gym.plugin] Failed to resolve visual mesh '../meshes/table/robot_stand.obj' Loading Assets Env suite is not None *** Starting Allegro_Sim environment component *** Start controlling the Simulation hand using the Oculus Headset.
End Effector Position [ 1. 1.2 0. -0.7071068 -0.7071068 0.