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abizovnuralem / go2_omniverse

Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)
BSD 2-Clause "Simplified" License
303 stars 28 forks source link

Error when launching ./run_sim.sh #14

Closed DavidYaonanZhu closed 3 months ago

DavidYaonanZhu commented 3 months ago

Error occurs when running the simulation,

[Error] [omni.ext.plugin] Failed to resolve extension dependencies. Failure hints: Synced registries:

this error stops the simulation from running.

Ubuntu 22.04, Isaac 4.0, conda isaaclab environment.

Best regards

DavidYaonanZhu commented 3 months ago

Follwoing these errors:

[8.560s] [ext: omni.kit.xr.system.openxr-106.0.50] startup Error [GENERAL | | OpenXR-Loader] : RuntimeManifestFile::FindManifestFiles - failed to determine active runtime file path for this environment Error [GENERAL | xrEnumerateInstanceExtensionProperties | OpenXR-Loader] : RuntimeInterface::LoadRuntimes - unknown error Error [GENERAL | xrEnumerateInstanceExtensionProperties | OpenXR-Loader] : RuntimeInterface::LoadRuntimes - failed to load a runtime Error [GENERAL | xrEnumerateInstanceExtensionProperties | OpenXR-Loader] : Failed to find default runtime with RuntimeInterface::LoadRuntime() Error [GENERAL | xrEnumerateInstanceExtensionProperties | OpenXR-Loader] : Failed querying extension properties

abizovnuralem commented 3 months ago

Hello, Have you tried to verify the installation? https://isaac-sim.github.io/IsaacLab/source/setup/installation/verifying_installation.html python source/standalone/tutorials/00_sim/create_empty.py

DavidYaonanZhu commented 3 months ago

Hi, thanks for the reply. Yes the verification works fine.

image

Did I miss something when installing this git repository?

Best regards

abizovnuralem commented 3 months ago

What is the conda name are you using?

abizovnuralem commented 3 months ago

I can suggest you manually repeat all the steps from ./run_sim.sh

source /opt/ros/${ROS_DISTRO}/setup.bash cd IsaacSim-ros_workspaces/${ROS_DISTRO}_ws rosdep install --from-paths src --ignore-src -r -y colcon build source install/setup.bash cd ../.. cd go2_omniverse_ws rosdep install --from-paths src --ignore-src -r -y colcon build source install/setup.bash cd .. conda activate isaaclab export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6

python main.py --robot_amount 1 --robot go2 and see at what step do you have a problem

DavidYaonanZhu commented 3 months ago

OK, let me try

DavidYaonanZhu commented 3 months ago

What is the conda name are you using?

I am using the isaaclab, the one tat I set up following the official instructions

DavidYaonanZhu commented 3 months ago

Hi, I have manually run all the commands in the shell script.

The simulation runs successfully.

At the mean time I need to fix several dependency errors during the process.

  1. AttributeError: module 'em' has no attribute 'BUFFERED_OPT', solved by pip install empy==3.3.4
  2. ModuleNotFoundError: No module named 'lark', solved by pip3 install lark

While, the original error regarding the isaac kit still remains.

Best regards

abizovnuralem commented 3 months ago

Got it, I have removed the VR from the code, can you try again please?

DavidYaonanZhu commented 3 months ago

Hi, I tried the new fix.

The kit error disapperd,

But for some reason, the shell script doesn't work, it starts the sim but the sim will close immediately.

To run the sim, I have to run the command step by step.

Best regards

abizovnuralem commented 3 months ago

Can you send me a short video or image of how you started the script?

DavidYaonanZhu commented 3 months ago

Hi, I found the problem is that I run the shell script with isaaclab env already activated. Once I turn off the isaaclab env, the shell works fine.

Thanks!

Btw, there are some minor points regarding G1,

  1. The camera view point is from the roof top, not from head pointing front.
  2. The pointcloud from G1 can not be displayed on rviz.
  3. Which balancing algorithm do you use? And how did you train them?
  4. Do you have some instructions regarding motion control?

Best regards

abizovnuralem commented 3 months ago

Thanks for your debugging! G1 is under development, I need to test many things, the project is huge, so need more time to do it. You can play with the transition of the camera and lidar and create a PR. After setup the correct translation, it will be in Rviz. I have trained my own balancing, using isaacLab, so you can try the same. Read the official docs, I have added the example there.

DavidYaonanZhu commented 3 months ago

Hi, @abizovnuralem Thanks for your help, and I’m glad I could debug. May I know the URL of your example in isaaclab for balance control?

Best regards.

abizovnuralem commented 3 months ago

This is it: https://github.com/isaac-sim/IsaacLab/pull/453

DavidYaonanZhu commented 3 months ago

Thanks!

------------------ Original ------------------ From: Brimo @.> Date: Mon,Jun 17,2024 8:18 PM To: abizovnuralem/go2_omniverse @.> Cc: Weyland Yutani @.>, Author @.> Subject: Re: [abizovnuralem/go2_omniverse] Error when launching ./run_sim.sh(Issue #14)

This is it: isaac-sim/IsaacLab#453

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