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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Question] Isaac sim 2023.1.1 stuck when running orbit existing scripts #414

Closed zhengshuai1 closed 1 month ago

zhengshuai1 commented 6 months ago

Hi, I try to run orbit demo scripts with isaac sim 2023.1.1;

The reference link is as follow: https://isaac-orbit.github.io/orbit/source/setup/sample.html

For example, when I run: ./orbit.sh -p source/standalone/demos/quadrupeds.py

Then Isaac sim get stuck and the log is :

2024-05-15 06:00:53 [256,455ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- In </World/Origin3/Robot>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Samples/Orbit/Robots/ANYbotics/ANYmal-D/anymal_d.usd@ for reference introduced by @anon:0x113a18e0:World0.usd@</World/Origin3/Robot>. (recomposing stage on stage @anon:0x113a18e0:World0.usd@ <0x132b2030>)

2024-05-15 06:00:53 [256,467ms] [Warning] [omni.isaac.orbit.sim.utils] Could not perform 'modify_rigid_body_properties' on any prims under: '/World/Origin3/Robot'. This might be because of the following reasons:
    (1) The desired attribute does not exist on any of the prims.
    (2) The desired attribute exists on an instanced prim.
        Discovered list of instanced prim paths: []
2024-05-15 06:00:53 [256,467ms] [Warning] [omni.isaac.orbit.sim.utils] Could not perform 'modify_articulation_root_properties' on any prims under: '/World/Origin3/Robot'. This might be because of the following reasons:
    (1) The desired attribute does not exist on any of the prims.
    (2) The desired attribute exists on an instanced prim.
        Discovered list of instanced prim paths: []
Traceback (most recent call last):
  File "/home/stardust/software/orbit/source/standalone/demos/quadrupeds.py", line 183, in <module>
    main()
  File "/home/stardust/software/orbit/source/standalone/demos/quadrupeds.py", line 171, in main
    scene_entities, scene_origins = design_scene()
  File "/home/stardust/software/orbit/source/standalone/demos/quadrupeds.py", line 91, in design_scene
    anymal_d = Articulation(ANYMAL_D_CFG.replace(prim_path="/World/Origin3/Robot"))
  File "/home/stardust/software/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py", line 96, in __init__
    super().__init__(cfg)
  File "/home/stardust/software/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py", line 58, in __init__
    super().__init__(cfg)
  File "/home/stardust/software/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py", line 75, in __init__
    self.cfg.spawn.func(
  File "/home/stardust/software/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py", line 270, in wrapper
    schemas.activate_contact_sensors(prim_paths[0], cfg.activate_contact_sensors)
  File "/home/stardust/software/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas.py", line 511, in activate_contact_sensors
    raise ValueError(
ValueError: No contact sensors added to the prim: '/World/Origin3/Robot'. This means that no rigid bodies are present under this prim. Please check the prim path.
2024-05-15 06:00:53 [256,473ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/stardust/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-05-15 06:00:53 [256,475ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2024-05-15 06:00:53 [256,475ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-05-15 06:00:53 [256,476ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-05-15 06:00:53 [256,478ms] [Warning] [carb.audio.context] 1 contexts were leaked
2024-05-15 06:00:53 [256,499ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2024-05-15 06:00:53 [256,505ms] [Warning] [omni.core.ITypeFactory] Module /home/stardust/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.

I can download the .usd file using wget; Thus my network is normal; http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Grid/default_environment.usd

How to solve this problem? Thanks!

My PC configuration

swstbecrpgmail commented 5 months ago

Hello, are you a developer in China? I have also met this problem. I find that the file can be download using wget but I don't know how the file are downloaded from nucleus server in the demo script.

swstbecrpgmail commented 1 month ago

You can also download all the isaacsim assets from omniverse launcher and change the load path of assets in the program.