Unable to run Go2, G1 runs fine

[fabioscap]

Hi, I am having problems running your code for the go2 simulation in Isaac. I can run the other simulation with the humanoid. Here are the error messages I get when I run run_sim.sh

Some warnings about meshes: 2024-08-13 14:37:22 [14,742ms] [Warning] [omni.replicator.core.scripts.utils.utils] Encountered invalid prim path /World/envs/env_0/Robot/base/front_cam 2024-08-13 14:37:22 [14,746ms] [Warning] [omni.fabric.plugin] No source has valid data array=0x1f54dba0 usdValid=0 cpuValid=0 2024-08-13 14:37:22 [14,746ms] [Warning] [omni.replicator.core.scripts.utils.utils] Encountered invalid prim path /World/envs/env_1/Robot/base/front_cam [...] 2024-08-13 14:37:24 [15,975ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/Robot/base/visuals.proto_mesh_0_id0' has corrupted data in primvar 'st': buffer size 178533 doesn't match expected size 233784 in faceVarying primvars

Some python errors: Exception ignored in: <function Camera.del at 0x7a14653175b0> Traceback (most recent call last): File "/home/fabioscap/Desktop/go2omniverse/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py", line 139, in del for , annotators in self._rep_registry.items(): AttributeError: 'Camera' object has no attribute '_rep_registry' Traceback (most recent call last): File "/home/fabioscap/Desktop/go2_omniverse/go2_omniverse/main.py", line 29, in run_sim() File "/home/fabioscap/Desktop/go2_omniverse/go2_omniverse/omniverse_sim.py", line 219, in run_sim add_camera(env_cfg.scene.num_envs, args_cli.robot) File "/home/fabioscap/Desktop/go2_omniverse/go2_omniverse/ros2.py", line 113, in add_camera Camera(cameraCfg) File "/home/fabioscap/Desktop/go2_omniverse/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py", line 121, in init self.cfg.spawn.func( File "/home/fabioscap/Desktop/go2_omniverse/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py", line 245, in wrapper prim = func(prim_paths[0], cfg, *args, **kwargs) File "/home/fabioscap/Desktop/go2_omniverse/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py", line 86, in spawn_camera raise ValueError(f"A prim already exists at path: '{prim_path}'.") ValueError: A prim already exists at path: '/World/envs/env_1/Robot/base/front_cam'.

Are you able to tell me if you are using a specific checkout of IsaacLab? Or do you know what could be the sources of these errors? thanks for the good work :v:

[abizovnuralem]

Can you try one more time with --robot_amount 1 please?

[fabioscap]

decreasing the robot amount to 1 makes it run, thanks! :sunglasses:

[abizovnuralem]

In case if you have a powerful GPU you can run multiple GO2 simultaneously, but if you don't you will have some issues with it.