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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
336 stars 30 forks source link

Crashes on launch #18

Closed paramoza999 closed 1 month ago

paramoza999 commented 3 months ago

/run_sim.sh

All required rosdeps installed successfully

Starting >>> carter_navigation Starting >>> custom_message Starting >>> isaac_ros2_messages Starting >>> isaac_ros_navigation_goal Starting >>> isaac_tutorials Finished <<< carter_navigation [0.23s]
Finished <<< isaac_tutorials [0.23s] Finished <<< isaac_ros2_messages [0.31s]
Finished <<< custom_message [0.32s] Finished <<< isaac_ros_navigation_goal [0.53s]

Summary: 5 packages finished [0.68s]

All required rosdeps installed successfully

Starting >>> go2_interfaces Finished <<< go2_interfaces [0.35s]

Summary: 1 package finished [0.49s] [INFO][AppLauncher]: Loading experience file: /home/param/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit [Warning] [omni.isaac.kit.simulation_app] Modules: ['omniverse_sim', 'omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. [Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) Starting kit application with the following args: ['/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/param/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit', '--/app/tokens/exe-path=/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts', '--ext-folder', '/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/apps', '--/renderer/activeGpu=0', '--/physics/cudaDevice=0', '--portable', '--/app/window/hideUi=False'] Passing the following args to the base kit application: ['--robot_amount', '2', '--robot', 'go2'] Loading user config located at: '/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.0/user.config.json' [Info] [carb] Logging to file: /home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.0/kit_20240707_163211.log 2024-07-07 23:32:11 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [0.035s] [ext: omni.kit.async_engine-0.0.0] startup [0.102s] [ext: omni.stats-0.0.0] startup [0.103s] [ext: omni.client-1.1.0] startup [0.122s] [ext: omni.datastore-0.0.0] startup [0.123s] [ext: omni.blobkey-1.1.0] startup [0.123s] [ext: omni.ujitso.default-1.0.0] startup [0.123s] [ext: omni.hsscclient-0.0.0] startup [0.124s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup [0.124s] [ext: omni.assets.plugins-0.0.0] startup [0.125s] [ext: omni.gpu_foundation-0.0.0] startup [0.132s] [ext: carb.windowing.plugins-1.0.0] startup [0.137s] [ext: omni.kit.renderer.init-0.0.0] startup 2024-07-07 23:32:11 [216ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S) 2024-07-07 23:32:11 [216ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S)

--------------------------------------------------------------------------------------------- Driver Version: 545.29.06 Graphics API: Vulkan ============================================================================================= GPU Name Active LDA GPU Memory Vendor-ID LUID Device-ID UUID Bus-ID
0 NVIDIA GeForce RTX 4080 Laptop.. Yes: 0 12282 MB 10de 0
27e0 63ac250e..
1
---------------------------------------------------------------------------------------------
1 Intel(R) Graphics (RPL-S) 48020 MB 8086 0
a788 868088a7..
0
=============================================================================================
OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 6.5.0-41-generic
XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
Processor: 13th Gen Intel(R) Core(TM) i9-13900HX Cores: 24 Logical: 48
---------------------------------------------------------------------------------------------
Total Memory (MB): 64026 Free Memory: 56704
Total Page/Swap (MB): 0 Free Page/Swap: 0
---------------------------------------------------------------------------------------------

2024-07-07 23:32:11 [409ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. 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startup [1.390s] [ext: omni.physx.cooking-106.0.16] startup [1.406s] [ext: omni.graph.ui-1.67.1] startup [1.431s] [ext: omni.graph.action_core-1.1.4] startup [1.439s] [ext: omni.physx-106.0.16] startup [1.452s] [ext: omni.graph.action_nodes-1.21.3] startup [1.460s] [ext: omni.kit.numpy.common-0.1.2] startup [1.462s] [ext: omni.kit.manipulator.camera-105.0.5] startup [1.466s] [ext: omni.physx.stageupdate-106.0.16] startup [1.470s] [ext: omni.graph.action-1.101.1] startup [1.471s] [ext: omni.isaac.kit-1.10.0] startup [1.473s] [ext: omni.isaac.dynamic_control-1.3.7] startup [1.480s] [ext: omni.kit.graph.delegate.default-1.2.2] startup [1.482s] [ext: omni.physics.tensors-106.0.16] startup [1.494s] [ext: omni.isaac.version-1.1.0] startup [1.496s] [ext: omni.physx.tensors-106.0.16] startup [1.502s] [ext: omni.warp.core-1.1.0] startup Warp 1.1.0 initialized: CUDA Toolkit 11.5, Driver 12.3 Devices: "cpu" : "x86_64" "cuda:0" : "NVIDIA GeForce RTX 4080 Laptop GPU" (12 GiB, sm_89, mempool enabled) Kernel cache: /home/param/.cache/warp/1.1.0 [1.570s] [ext: omni.isaac.nucleus-0.1.2] startup [1.570s] [ext: omni.kit.graph.delegate.modern-1.10.6] startup [1.573s] [ext: omni.isaac.core-3.12.0] startup [2.338s] [ext: omni.kit.graph.editor.core-1.5.3] startup [2.341s] [ext: omni.kit.manipulator.viewport-107.0.0] startup [2.342s] [ext: omni.kit.graph.widget.variables-2.1.0] startup [2.344s] [ext: omni.kit.graph.usd.commands-1.3.1] startup [2.345s] [ext: omni.graph.visualization.nodes-2.1.1] startup [2.350s] [ext: omni.graph.window.core-1.107.1] startup [2.360s] [ext: omni.ui_query-1.1.2] startup [2.362s] [ext: omni.graph.window.generic-1.23.1] startup [2.366s] [ext: omni.kit.ui_test-1.2.18] startup [2.367s] [ext: omni.kit.ui.actions-1.0.1] startup [2.368s] [ext: omni.isaac.ui-0.15.1] startup [2.370s] [ext: omni.kit.window.cursor-1.1.2] startup [2.372s] [ext: omni.kit.menu.common-1.1.5] startup [2.374s] [ext: omni.command.usd-1.0.3] startup [2.375s] [ext: omni.isaac.menu-0.4.1] 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omni.kit.manipulator.prim.core-106.0.2] startup [2.524s] [ext: omni.fabric.commands-1.1.4] startup [2.528s] [ext: omni.graph.image.core-0.3.2] startup [2.532s] [ext: omni.physx.vehicle-106.0.16] startup [2.542s] [ext: omni.kit.manipulator.prim.usd-106.0.1] startup [2.544s] [ext: omni.kit.manipulator.prim.fabric-106.0.1] startup [2.545s] [ext: omni.graph.image.nodes-1.0.2] startup [2.546s] [ext: omni.physx.camera-106.0.16] startup [2.553s] [ext: omni.kit.manipulator.prim-106.0.0] startup [2.553s] [ext: omni.graph.nodes-1.141.2] startup [2.560s] [ext: omni.graph.ui_nodes-1.24.1] startup [2.565s] [ext: omni.kit.manipulator.selection-104.0.9] startup [2.567s] [ext: omni.kit.widget.layers-1.7.9] startup [2.591s] [ext: omni.kit.window.toolbar-1.6.1] startup [2.593s] [ext: omni.graph.scriptnode-1.18.2] startup [2.595s] [ext: omni.graph.bundle.action-2.0.4] startup [2.596s] [ext: omni.physx.cct-106.0.16] startup [2.613s] [ext: omni.physx.graph-106.0.16] startup [2.633s] [ext: omni.physx.supportui-106.0.16] startup [2.663s] [ext: omni.physx.telemetry-106.0.16] startup [2.667s] [ext: omni.kit.widget.material_preview-1.0.16] startup [2.669s] [ext: omni.sensors.tiled-0.0.3] startup [2.672s] [ext: omni.syntheticdata-0.6.7] startup [2.694s] [ext: omni.warp-1.1.0] startup [2.710s] [ext: omni.physx.bundle-106.0.16] startup [2.710s] [ext: omni.kit.window.material_graph-1.8.15] startup [2.779s] [ext: omni.isaac.debug_draw-0.7.1] startup [2.812s] [ext: omni.sensors.nv.common-1.0.1] startup [2.842s] [ext: omni.replicator.core-1.11.8] startup 2024-07-07 23:32:14 [2,845ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template [2.930s] [ext: omni.kit.menu.create-1.0.12] startup [2.933s] [ext: omni.sensors.nv.materials-1.0.0] startup [2.935s] [ext: omni.isaac.range_sensor-3.0.1] startup [2.959s] [ext: omni.isaac.core_nodes-1.15.4] startup [2.976s] [ext: omni.sensors.nv.wpm-1.0.0] startup [2.978s] [ext: omni.kit.actions.window-1.1.1] startup [2.983s] [ext: omni.kit.selection-0.1.4] startup [2.985s] [ext: omni.sensors.nv.radar-1.0.1] startup [2.990s] [ext: omni.sensors.nv.lidar-1.0.1] startup [2.995s] [ext: omni.kit.menu.file-1.1.9] startup [3.000s] [ext: omni.kit.menu.edit-1.1.19] startup [3.009s] [ext: omni.isaac.sensor-11.3.0] startup [3.082s] [ext: omni.kit.hotkeys.window-1.4.5] startup [3.092s] [ext: omni.kit.property.isaac-0.2.3] startup [3.099s] [ext: omni.kit.property.layer-1.1.5] startup [3.102s] [ext: omni.kit.stage_column.payload-2.0.0] startup [3.106s] [ext: omni.kit.stage_column.variant-1.0.13] startup [3.111s] [ext: omni.kit.stagerecorder.core-105.0.5] startup [3.115s] [ext: omni.rtx.window.settings-0.6.15] startup [3.118s] [ext: omni.kit.widget.live-2.1.6] startup [3.120s] [ext: omni.kit.viewport.menubar.camera-105.1.8] startup [3.124s] [ext: omni.kit.viewport.menubar.render-106.1.2] startup [3.126s] [ext: omni.kit.viewport.menubar.settings-106.0.0] startup [3.129s] [ext: omni.kit.viewport.rtx-104.0.1] startup [3.129s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup [3.159s] [ext: omni.kit.property.audio-1.0.11] startup [3.162s] [ext: omni.kit.widget.calendar-1.0.8] startup 2024-07-07 23:32:14 [3,148ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance. [3.164s] [ext: omni.kit.widget.stage_icons-1.0.3] startup [3.165s] [ext: omni.hydra.scene_api-0.1.2] startup [3.172s] [ext: omni.kit.property.geometry-1.3.0] startup [3.175s] [ext: omni.kit.property.camera-1.0.6] startup [3.177s] [ext: omni.kit.widget.extended_searchfield-1.0.27] startup [3.182s] [ext: omni.kit.window.stage-2.5.9] startup [3.186s] [ext: omni.kit.property.transform-1.5.1] startup [3.189s] [ext: omni.kit.property.render-1.1.1] startup [3.190s] [ext: omni.kit.property.light-1.0.8] startup [3.192s] [ext: omni.kit.window.commands-0.2.5] startup [3.193s] [ext: omni.kit.widget.timeline-105.0.1] startup [3.194s] [ext: omni.kit.menu.stage-1.2.5] startup [3.196s] [ext: omni.kit.property.bundle-1.2.11] startup [3.197s] [ext: omni.kit.window.status_bar-0.1.6] startup [3.201s] [ext: omni.kit.window.title-1.1.3] startup [3.201s] [ext: omni.replicator.isaac-1.15.0] startup [3.210s] [ext: omni.replicator.replicator_yaml-2.0.5] startup [3.232s] [ext: omni.rtx.settings.core-0.6.0] startup [3.238s] [ext: omni.kit.window.console-0.2.12] startup [3.247s] [ext: semantics.schema.editor-0.3.4] startup [3.252s] [ext: semantics.schema.property-1.0.2] startup [3.254s] [ext: omni.kit.window.script_editor-1.7.6] startup [3.257s] [ext: omni.kit.profiler.window-2.2.1] startup 2024-07-07 23:32:14 [3,245ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.lt and use insort 'key' arg instead [3.352s] [ext: omni.isaac.utils-1.0.1] startup [3.356s] [ext: omni.isaac.cloner-0.8.1] startup [3.357s] [ext: omni.kit.window.stats-0.1.6] startup [3.360s] [ext: isaaclab.python-1.0.0] startup [3.361s] Simulation App Starting [4.891s] app ready [5.808s] Simulation App Startup Complete [5.810s] Failed to solve some dependencies locally, syncing with extension registry... [5.817s] [ext: omni.kit.registry.nucleus-0.0.0] startup 2024-07-07 23:32:19 [7,553ms] [Error] [omni.ext.plugin] Failed to resolve extension dependencies. Failure hints: Can't find extension with name: omni.isaac.ros2_bridge Available versions: (none found) Synced registries:

Traceback (most recent call last): File "/home/param/go2_omniverse/main.py", line 32, in run_sim() File "/home/param/go2_omniverse/omniverse_sim.py", line 181, in run_sim create_front_cam_omnigraph(i) File "/home/param/go2_omniverse/omnigraph.py", line 35, in create_front_cam_omnigraph og.Controller.edit( File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 1171, in edit return obj.edit(obj, args=args, kwargs=kwargs) File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 1372, in edit return do_the_edits() File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 1288, in do_the_edits nodes_constructed = obj._process_create_nodes( # noqa: PLW0212 File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 512, in _process_create_nodes nodes_constructed = [ File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 513, in obj.create_node( File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/graph_controller.py", line 225, in create_node return obj.__create_node(obj, args=args, kwargs=kwargs) File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/graph_controller.py", line 307, in __create_node raise og.OmniGraphError(f"Could not create node using unrecognized type '{node_type_id}'{more}") omni.graph.core._impl.errors.OmniGraphError: OmniGraphError: Could not create node using unrecognized type 'omni.isaac.ros2_bridge.ROS2CameraHelper'. Perhaps the extension 'omni.isaac.ros2_bridge' is not loaded? 2024-07-07 23:32:19 [8,326ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.3+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request 2024-07-07 23:32:19 [8,330ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal 2024-07-07 23:32:19 [8,417ms] [Warning] [carb] Recursive unloadAllPlugins() detected!

abizovnuralem commented 3 months ago

Did you happen to activate env before launching the script? You shouldn't do it

paramoza999 commented 3 months ago

Did you happen to activate env before launching the script? You shouldn't do it

No, i directly launched the shell script

ahanjaya commented 3 months ago

I faced the same issue, the error is because of the isaacsim-ros2 plugin is not installed so by installing isaacsim-ros2, it will solve the problem in my case

conda activate isaaclab
pip install isaacsim-ros2 --extra-index-url https://pypi.nvidia.com
abizovnuralem commented 3 months ago

Can you tell me the version of Isaac sim and nvidia omniverse, please? I will double-check on my side @paramoza999

paramoza999 commented 3 months ago

I am using Isaac 4.0 and ros2 humble

On Mon, Jul 29, 2024, 1:24 AM Brimo @.***> wrote:

Can you tell me the version of Isaac sim and nvidia omniverse, please? I will double-check on my side @paramoza999 https://github.com/paramoza999

— Reply to this email directly, view it on GitHub https://github.com/abizovnuralem/go2_omniverse/issues/18#issuecomment-2255310968, or unsubscribe https://github.com/notifications/unsubscribe-auth/AQCCES52X6YKPOCR7MIJEVDZOX35JAVCNFSM6AAAAABKPYL6CGVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENJVGMYTAOJWHA . You are receiving this because you were mentioned.Message ID: @.***>

abizovnuralem commented 2 months ago

Have you pulled the latest version from git? In my case, it works, strange...

abizovnuralem commented 1 month ago

@paramoza999 , I hope you have fixed your problem, I will close the issue, if you have some problems, just open a new one, thanks!