Open swstbecrpgmail opened 3 months ago
Mayankm96
commented
3 months ago @KyleM73 This seems similar to the issue you mentioned in #551
@swstbecrpgmail can you check that issue and see it is the same setup that's causing issues for you too? Also, please follow the bug report template next time. It helps us reproduce the issue with a similar setup.
swstbecrpgmail
commented
3 months ago follow the bug report template
Sorry, I have edited the issue fllowing the bug report template. Thank you very much!
KyleM73
commented
3 months ago @KyleM73 This seems similar to the issue you mentioned in #551
I’m not sure that this is related to #551 as my bug never appears with loading the rough terrain, it only happens in the container in headless mode on flat terrain with the viewer tracking the asset root when recording videos to wandb. In every other configuration that I’ve tried it’s worked as expected. Unless maybe there was some change to how MDLs are resolved internally? I’m not sure what causes the initial issue here but the secondary issue of the dark environment feels like it’s caused by the path to the file not being resolved correctly when the cfg is loaded in the env.
As a tangentially related issue that I know has been brought up before, it would be really really helpful to have documentation about what materials are in the nucleus server. I’ve crawled it manually to get a bunch of MDLs but it would be nice to know what’s in there directly and it would definitely help with debugging as well (since you can print the path to the MDL after it’s been resolved, it would be helpful to have a reference for what the path should be). It would also give a lot more flexibility for users wanting to make custom envs. I’m pretty sure this issue has been raised elsewhere though.
swstbecrpgmail
commented
3 months ago Describe the bug
When I run "./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 32", it report that it failed to open the needed mdl file, which might be caused by the unstable connection to nucleus server (I have confirmed that I have connected to nucleus server and this bug did not occur during the previous run). Then I download the needed mdl file, changed the reading path of the mdl file from url to the local path on the local computer, it reports that "Texture file referenced in the material parameter defaults wasn't resolved properly", and the terrain looks very dark in isaac sim.
Steps to reproduce
Firstly, run "./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 32".(You need to have a trained policy beforehand.)
./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 32You may not meet the "failed to open the needed mdl file" error below at first, but this error occurs to me after I run this command several times. I think this error is related to nucleus server, so if you want to reproduce this error, you may need to stop the nucleus server. (This might not be an important problem because I use wget to download the needed mdl file afterwards.) And Here are the terminal logs:
[INFO] Using python from: /home/crp/anaconda3/envs/isaaclab/bin/python [INFO][AppLauncher]: Loading experience file: /home/crp/workspace/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit Starting kit application with the following args: ['/home/crp/workspace/IsaacLab/_isaac_sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/crp/workspace/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit', '--/app/tokens/exe-path=/home/crp/workspace/IsaacLab/_isaac_sim/kit', '--/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/crp/workspace/IsaacLab/_isaac_sim/exts', '--ext-folder', '/home/crp/workspace/IsaacLab/_isaac_sim/apps', '--/renderer/activeGpu=0', '--/physics/cudaDevice=0', '--portable', '--/app/window/hideUi=False'] Passing the following args to the base kit application: ['--task', 'Isaac-Velocity-Rough-Unitree-Go1-v0', '--num_envs', '32'] Loading user config located at: '/home/crp/.local/share/ov/pkg/isaac-sim-4.0.0/kit/data/Kit/Isaac-Sim/4.0/user.config.json' [Info] [carb] Logging to file: /home/crp/.local/share/ov/pkg/isaac-sim-4.0.0/kit/logs/Kit/Isaac-Sim/4.0/kit_20240705_202414.log 2024-07-05 12:24:14 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [0.106s] [ext: omni.kit.async_engine-0.0.0] startup [0.407s] [ext: omni.stats-0.0.0] startup [0.408s] [ext: omni.client-1.1.0] startup [0.437s] [ext: omni.datastore-0.0.0] startup [0.438s] [ext: omni.blobkey-1.1.0] startup [0.438s] [ext: omni.ujitso.default-1.0.0] startup [0.439s] [ext: omni.hsscclient-0.0.0] startup [0.439s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup [0.440s] [ext: omni.assets.plugins-0.0.0] startup [0.441s] [ext: omni.gpu_foundation-0.0.0] startup [0.451s] [ext: carb.windowing.plugins-1.0.0] startup [0.459s] [ext: omni.kit.renderer.init-0.0.0] startup MESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0 2024-07-05 12:24:14 [679ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RKL GT1) 2024-07-05 12:24:14 [680ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RKL GT1) |---------------------------------------------------------------------------------------------| | Driver Version: 535.161.08 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 3060 | Yes: 0 | | 12534 MB | 10de | 0 | | | | | | | 2503 | 31bc2b95.. | | | | | | | 1 | | |---------------------------------------------------------------------------------------------| | 1 | Intel(R) Graphics (RKL GT1) | | | 23872 MB | 8086 | 0 | | | | | | | 4c8a | e6537608.. | | | | | | | 0 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-67-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0) | Processor: 11th Gen Intel(R) Core(TM) i7-11700 @ 2.50GHz | Cores: 8 | Logical: 16 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 31829 | Free Memory: 23911 | Total Page/Swap (MB): 2047 | Free Page/Swap: 2045 |---------------------------------------------------------------------------------------------| [1.214s] [ext: omni.kit.pipapi-0.0.0] startup [1.215s] [ext: omni.kit.pip_archive-0.0.0] startup [1.216s] [ext: omni.pip.compute-1.3.1] startup [1.216s] [ext: omni.pip.cloud-1.1.3] startup [1.220s] [ext: omni.isaac.core_archive-2.3.0] startup [1.220s] [ext: omni.mtlx-0.1.0] startup [1.220s] [ext: omni.usd.config-1.0.3] startup [1.223s] [ext: omni.gpucompute.plugins-0.0.0] startup [1.223s] [ext: omni.usd.libs-1.0.0] startup [1.319s] [ext: omni.isaac.ml_archive-2.0.1] startup [1.319s] [ext: omni.kit.loop-isaac-1.2.0] startup [1.320s] [ext: omni.kit.test-0.0.0] startup [1.366s] 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omni.kit.property.camera-1.0.6] startup [5.342s] [ext: omni.kit.widget.extended_searchfield-1.0.27] startup [5.352s] [ext: omni.kit.window.stage-2.5.9] startup [5.358s] [ext: omni.kit.property.transform-1.5.1] startup [5.362s] [ext: omni.kit.property.render-1.1.1] startup [5.365s] [ext: omni.kit.property.light-1.0.8] startup [5.367s] [ext: omni.kit.window.commands-0.2.5] startup [5.370s] [ext: omni.kit.widget.timeline-105.0.1] startup [5.373s] [ext: omni.kit.menu.stage-1.2.5] startup [5.376s] [ext: omni.kit.property.bundle-1.2.11] startup [5.378s] [ext: omni.kit.window.status_bar-0.1.6] startup [5.383s] [ext: omni.kit.window.title-1.1.3] startup [5.385s] [ext: omni.replicator.isaac-1.15.0] startup [5.400s] [ext: omni.replicator.replicator_yaml-2.0.5] startup [5.427s] [ext: omni.rtx.settings.core-0.6.0] startup [5.437s] [ext: omni.kit.window.console-0.2.12] startup [5.454s] [ext: semantics.schema.editor-0.3.4] startup [5.459s] [ext: semantics.schema.property-1.0.2] startup [5.462s] [ext: omni.kit.window.script_editor-1.7.6] startup [5.468s] [ext: omni.kit.profiler.window-2.2.1] startup 2024-07-05 12:24:19 [5,433ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead [5.476s] [ext: omni.isaac.utils-1.0.1] startup [5.481s] [ext: omni.isaac.cloner-0.8.1] startup [5.484s] [ext: omni.kit.window.stats-0.1.6] startup [5.488s] [ext: isaaclab.python-1.0.0] startup [5.490s] Simulation App Starting [8.509s] app ready [9.917s] Simulation App Startup Complete [INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go1.rough_env_cfg.UnitreeGo1RoughEnvCfg'> [INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go1.agents.rsl_rl_cfg.UnitreeGo1RoughPPORunnerCfg'> [11.049s] [ext: omni.physx.fabric-106.0.16] startup [INFO]: Base environment: Environment device : cuda:0 Physics step-size : 0.005 Rendering step-size : 0.02 Environment step-size : 0.02 Physics GPU pipeline : True Physics GPU simulation: True [INFO] Generating terrains based on curriculum took : 1.922967 seconds [INFO]: Time taken for scene creation : 4.357881 seconds [INFO]: Scene manager: <class InteractiveScene> Number of environments: 32 Environment spacing : 2.5 Source prim name : /World/envs/env_0 Global prim paths : ['/World/ground'] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... 2024-07-05 12:25:33 [78,888ms] [Warning] [rtx.neuraylib.plugin] [EntityResolver] FileDatasourceInputStream failed to open: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/IsaacLab/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl?watch=00007f6320e4cce0 2024-07-05 12:25:33 [78,889ms] [Error] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp error: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/IsaacLab/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl?watch=00007f6320e4cce0(1,1): C100 "mdl" expected 2024-07-05 12:25:33 [78,889ms] [Warning] [rtx.neuraylib.plugin] Loading MdlModule to DB (rtx_scope0) failed: ::Z6Ahttp_3A_2F::Z58omniverse_2Dcontent_2Dproduction_2Es3_2Dus_2Dwest_2D2_2Eamazonaws_2Ecom::Assets::Isaac::ZCC_34_2E0::Isaac::IsaacLab::Materials::TilesMarbleSpiderWhiteBrickBondHoned::TilesMarbleSpiderWhiteBrickBondHoned 2024-07-05 12:25:33 [78,889ms] [Warning] [rtx.neuraylib.plugin] Loading transaction committed (this thread). MdlModule is NOT in the DB (rtx_scope0): ::Z6Ahttp_3A_2F::Z58omniverse_2Dcontent_2Dproduction_2Es3_2Dus_2Dwest_2D2_2Eamazonaws_2Ecom::Assets::Isaac::ZCC_34_2E0::Isaac::IsaacLab::Materials::TilesMarbleSpiderWhiteBrickBondHoned::TilesMarbleSpiderWhiteBrickBondHoned 2024-07-05 12:26:51 [157,293ms] [Warning] [rtx.neuraylib.plugin] [EntityResolver] FileDatasourceInputStream failed to open: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/IsaacLab/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl?watch=00007f734959fd50 2024-07-05 12:26:51 [157,293ms] [Error] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp error: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/IsaacLab/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl?watch=00007f734959fd50(1,1): C100 "mdl" expected 2024-07-05 12:26:51 [157,293ms] [Warning] [rtx.neuraylib.plugin] Loading MdlModule to DB (rtx_scope0) failed: ::Z6Ahttp_3A_2F::Z58omniverse_2Dcontent_2Dproduction_2Es3_2Dus_2Dwest_2D2_2Eamazonaws_2Ecom::Assets::Isaac::ZCC_34_2E0::Isaac::IsaacLab::Materials::TilesMarbleSpiderWhiteBrickBondHoned::TilesMarbleSpiderWhiteBrickBondHoned 2024-07-05 12:26:51 [157,294ms] [Warning] [rtx.neuraylib.plugin] Loading transaction committed (this thread). MdlModule is NOT in the DB (rtx_scope0): ::Z6Ahttp_3A_2F::Z58omniverse_2Dcontent_2Dproduction_2Es3_2Dus_2Dwest_2D2_2Eamazonaws_2Ecom::Assets::Isaac::ZCC_34_2E0::Isaac::IsaacLab::Materials::TilesMarbleSpiderWhiteBrickBondHoned::TilesMarbleSpiderWhiteBrickBondHoned 2024-07-05 12:26:51 [157,294ms] [Error] [omni.hydra] Failed to create MDL shade node for prim '/World/ground/terrain/visualMaterial/Shader'. createMdlModule failed. 2024-07-05 12:26:51 [157,314ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /Visuals/RayCaster.proto0_mesh_id0 that has not been populated [INFO]: Time taken for simulation start : 142.891389 seconds [INFO] Command Manager: <CommandManager> contains 1 active terms. +------------------------------------------------+ | Active Command Terms | +-------+---------------+------------------------+ | Index | Name | Type | +-------+---------------+------------------------+ | 0 | base_velocity | UniformVelocityCommand | +-------+---------------+------------------------+ [INFO] Action Manager: <ActionManager> contains 1 active terms. +------------------------------------+ | Active Action Terms (shape: 12) | +--------+-------------+-------------+ | Index | Name | Dimension | +--------+-------------+-------------+ | 0 | joint_pos | 12 | +--------+-------------+-------------+ Module omni.isaac.lab.utils.warp.kernels load on device 'cuda:0' took 2.65 ms [INFO] Observation Manager: <ObservationManager> contains 1 groups. +----------------------------------------------------------+ | Active Observation Terms in Group: 'policy' (shape: (235,)) | +-----------+--------------------------------+-------------+ | Index | Name | Shape | +-----------+--------------------------------+-------------+ | 0 | base_lin_vel | (3,) | | 1 | base_ang_vel | (3,) | | 2 | projected_gravity | (3,) | | 3 | velocity_commands | (3,) | | 4 | joint_pos | (12,) | | 5 | joint_vel | (12,) | | 6 | actions | (12,) | | 7 | height_scan | (187,) | +-----------+--------------------------------+-------------+ [INFO] Event Manager: <EventManager> contains 2 active terms. +--------------------------------------+ | Active Event Terms in Mode: 'startup' | +----------+---------------------------+ | Index | Name | +----------+---------------------------+ | 0 | physics_material | | 1 | add_base_mass | +----------+---------------------------+ +---------------------------------------+ | Active Event Terms in Mode: 'reset' | +--------+------------------------------+ | Index | Name | +--------+------------------------------+ | 0 | base_external_force_torque | | 1 | reset_base | | 2 | reset_robot_joints | +--------+------------------------------+ [INFO] Termination Manager: <TerminationManager> contains 2 active terms. +---------------------------------+ | Active Termination Terms | +-------+--------------+----------+ | Index | Name | Time Out | +-------+--------------+----------+ | 0 | time_out | True | | 1 | base_contact | False | +-------+--------------+----------+ [INFO] Reward Manager: <RewardManager> contains 10 active terms. +-----------------------------------------+ | Active Reward Terms | +-------+----------------------+----------+ | Index | Name | Weight | +-------+----------------------+----------+ | 0 | track_lin_vel_xy_exp | 1.5 | | 1 | track_ang_vel_z_exp | 0.75 | | 2 | lin_vel_z_l2 | -2.0 | | 3 | ang_vel_xy_l2 | -0.05 | | 4 | dof_torques_l2 | -0.0002 | | 5 | dof_acc_l2 | -2.5e-07 | | 6 | action_rate_l2 | -0.01 | | 7 | feet_air_time | 0.01 | | 8 | flat_orientation_l2 | 0.0 | | 9 | dof_pos_limits | 0.0 | +-------+----------------------+----------+ [INFO] Curriculum Manager: <CurriculumManager> contains 1 active terms. +---------------------------+ | Active Curriculum Terms | +--------+------------------+ | Index | Name | +--------+------------------+ | 0 | terrain_levels | +--------+------------------+ Creating window for environment. [INFO]: Completed setting up the environment... [INFO] Loading experiment from directory: /home/crp/workspace/IsaacLab/logs/rsl_rl/unitree_go1_rough [INFO]: Loading model checkpoint from: /home/crp/workspace/IsaacLab/logs/rsl_rl/unitree_go1_rough/2024-07-03_21-17-38/model_1499.pt Actor MLP: Sequential( (0): Linear(in_features=235, out_features=512, bias=True) (1): ELU(alpha=1.0) (2): Linear(in_features=512, out_features=256, bias=True) (3): ELU(alpha=1.0) (4): Linear(in_features=256, out_features=128, bias=True) (5): ELU(alpha=1.0) (6): Linear(in_features=128, out_features=12, bias=True) ) Critic MLP: Sequential( (0): Linear(in_features=235, out_features=512, bias=True) (1): ELU(alpha=1.0) (2): Linear(in_features=512, out_features=256, bias=True) (3): ELU(alpha=1.0) (4): Linear(in_features=256, out_features=128, bias=True) (5): ELU(alpha=1.0) (6): Linear(in_features=128, out_features=1, bias=True) ) [INFO]: Loading model checkpoint from: /home/crp/workspace/IsaacLab/logs/rsl_rl/unitree_go1_rough/2024-07-03_21-17-38/model_1499.ptAnd the terrain in isaac sim looks red.
Then I download the mdl file using wget,
wget http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/IsaacLab/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl?watch=00007f6320e4cce0and change the path defined in "~/workspace/saaclab/source/extensions/omniisaac.lab tasks/omni/isaac/lab tasks/manager_basedAocomotion/velocity/velocity, env cfg.py line 57" from url to the local path.
visual_material=sim_utils.MdlFileCfg( # mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl", mdl_path="/home/crp/workspace/IsaacLab/file_download_crp/mdl/TilesMarbleSpiderWhiteBrickBondHoned.mdl", project_uvw=True, texture_scale=(0.25, 0.25), ), debug_vis=False,After this step, I run "./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 32" again.
./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 32And it reports that "Texture file referenced in the material parameter defaults wasn't resolved properly":
[INFO] Using python from: /home/crp/anaconda3/envs/isaaclab/bin/python [INFO][AppLauncher]: Loading experience file: /home/crp/workspace/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit Starting kit application with the following args: ['/home/crp/workspace/IsaacLab/_isaac_sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/crp/workspace/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit', '--/app/tokens/exe-path=/home/crp/workspace/IsaacLab/_isaac_sim/kit', '--/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/crp/workspace/IsaacLab/_isaac_sim/exts', '--ext-folder', '/home/crp/workspace/IsaacLab/_isaac_sim/apps', '--/renderer/activeGpu=0', '--/physics/cudaDevice=0', '--portable', '--/app/window/hideUi=False'] Passing the following args to the base kit application: ['--task', 'Isaac-Velocity-Rough-Unitree-Go1-v0', '--num_envs', '32'] Loading user config located at: '/home/crp/.local/share/ov/pkg/isaac-sim-4.0.0/kit/data/Kit/Isaac-Sim/4.0/user.config.json' [Info] [carb] Logging to file: /home/crp/.local/share/ov/pkg/isaac-sim-4.0.0/kit/logs/Kit/Isaac-Sim/4.0/kit_20240705_204544.log 2024-07-05 12:45:44 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [0.058s] [ext: omni.kit.async_engine-0.0.0] startup [0.365s] [ext: omni.stats-0.0.0] startup [0.365s] [ext: omni.client-1.1.0] startup [0.395s] [ext: omni.datastore-0.0.0] startup [0.396s] [ext: omni.blobkey-1.1.0] startup [0.396s] [ext: omni.ujitso.default-1.0.0] startup [0.397s] [ext: omni.hsscclient-0.0.0] startup [0.397s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup [0.398s] [ext: omni.assets.plugins-0.0.0] startup [0.399s] [ext: omni.gpu_foundation-0.0.0] startup [0.409s] [ext: carb.windowing.plugins-1.0.0] startup [0.417s] [ext: omni.kit.renderer.init-0.0.0] startup MESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0 2024-07-05 12:45:44 [564ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RKL GT1) 2024-07-05 12:45:44 [564ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RKL GT1) |---------------------------------------------------------------------------------------------| | Driver Version: 535.161.08 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 3060 | Yes: 0 | | 12534 MB | 10de | 0 | | | | | | | 2503 | 31bc2b95.. | | | | | | | 1 | | |---------------------------------------------------------------------------------------------| | 1 | Intel(R) Graphics (RKL GT1) | | | 23872 MB | 8086 | 0 | | | | | | | 4c8a | e6537608.. | | | | | | | 0 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-67-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0) | Processor: 11th Gen Intel(R) Core(TM) i7-11700 @ 2.50GHz | Cores: 8 | Logical: 16 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 31829 | Free Memory: 19145 | Total Page/Swap (MB): 2047 | Free Page/Swap: 2045 |---------------------------------------------------------------------------------------------| [1.136s] [ext: omni.kit.pipapi-0.0.0] startup [1.138s] [ext: omni.kit.pip_archive-0.0.0] startup [1.138s] [ext: omni.pip.compute-1.3.1] startup [1.139s] [ext: omni.pip.cloud-1.1.3] startup [1.142s] [ext: omni.isaac.core_archive-2.3.0] startup [1.142s] [ext: omni.mtlx-0.1.0] startup [1.143s] [ext: omni.usd.config-1.0.3] startup [1.146s] [ext: omni.gpucompute.plugins-0.0.0] startup [1.146s] [ext: omni.usd.libs-1.0.0] startup [1.243s] [ext: omni.isaac.ml_archive-2.0.1] startup [1.243s] [ext: omni.kit.loop-isaac-1.2.0] startup [1.244s] [ext: omni.kit.test-0.0.0] startup [1.292s] [ext: omni.kit.telemetry-0.5.0] startup [1.311s] [ext: omni.appwindow-1.1.8] startup [1.411s] [ext: omni.kit.renderer.core-1.0.1] startup [1.743s] [ext: omni.kit.renderer.capture-0.0.0] startup [1.745s] [ext: omni.kit.renderer.imgui-1.0.1] startup [1.844s] [ext: omni.ui-2.23.11] startup [1.855s] [ext: omni.kit.mainwindow-1.0.3] startup [1.857s] [ext: carb.audio-0.1.0] startup [1.880s] [ext: omni.uiaudio-1.0.0] startup [1.883s] [ext: omni.kit.uiapp-0.0.0] startup [1.883s] [ext: omni.usd.schema.semantics-0.0.0] startup [2.037s] [ext: omni.usd.schema.isaac-2.0.2] startup [2.044s] [ext: omni.usd.schema.scene.visualization-2.0.2] startup [2.046s] [ext: omni.usd.schema.audio-0.0.0] startup [2.049s] [ext: omni.usd.schema.forcefield-106.0.16] startup [2.079s] [ext: omni.usd.schema.physx-106.0.16] startup [2.110s] [ext: omni.usd.schema.omnigraph-1.0.0] startup [2.117s] [ext: omni.usd.schema.geospatial-0.0.0] startup [2.120s] [ext: omni.usd.schema.anim-0.0.0] startup [2.138s] [ext: omni.kit.window.popup_dialog-2.0.24] startup [2.143s] [ext: omni.usd_resolver-1.0.0] startup [2.147s] [ext: omni.kit.widget.nucleus_connector-1.1.5] startup [2.149s] [ext: omni.timeline-1.0.10] startup [2.151s] [ext: omni.usd.core-1.2.11] startup [2.155s] [ext: omni.kit.usd_undo-0.1.8] startup [2.155s] [ext: omni.hydra.scene_delegate-0.3.3] startup [2.162s] [ext: omni.activity.core-1.0.1] startup [2.164s] [ext: omni.resourcemonitor-105.0.1] startup [2.166s] [ext: omni.graph.exec-0.9.3] startup [2.167s] [ext: omni.kit.actions.core-1.0.0] startup [2.168s] [ext: usdrt.scenegraph-7.4.8] startup [2.215s] [ext: omni.kit.audiodeviceenum-1.0.1] startup [2.217s] [ext: omni.kit.exec.core-0.13.0] startup [2.219s] [ext: omni.kit.commands-1.4.9] startup [2.222s] [ext: omni.hydra.usdrt_delegate-7.4.7] startup [2.242s] [ext: omni.kit.widget.nucleus_info-1.0.2] startup [2.243s] [ext: omni.usd-1.10.39] startup [2.291s] [ext: omni.kit.search_core-1.0.5] startup [2.292s] [ext: omni.kit.helper.file_utils-0.1.7] startup [2.294s] [ext: omni.kit.widget.options_menu-1.1.4] startup [2.297s] [ext: omni.kit.widget.filebrowser-2.3.47] startup [2.301s] [ext: omni.kit.widget.options_button-1.0.2] startup [2.302s] [ext: omni.kit.widget.search_delegate-1.0.4] startup [2.303s] [ext: omni.kit.widget.context_menu-1.2.1] startup [2.304s] [ext: omni.kit.usd.layers-2.1.30] startup [2.313s] [ext: omni.kit.hotkeys.core-1.3.3] startup [2.316s] [ext: omni.kit.widget.path_field-2.0.9] startup [2.317s] [ext: omni.kit.clipboard-1.0.3] startup [2.318s] [ext: omni.kit.menu.utils-1.5.23] startup [2.327s] [ext: omni.ui.scene-1.9.3] startup [2.333s] [ext: omni.kit.widget.browser_bar-2.0.9] startup [2.334s] [ext: omni.kit.notification_manager-1.0.8] startup [2.336s] [ext: omni.kit.stage_template.core-1.1.20] startup [2.336s] [ext: omni.kit.primitive.mesh-1.0.16] startup [2.340s] [ext: omni.kit.window.filepicker-2.10.32] startup [2.351s] [ext: omni.kit.stage_templates-1.2.2] startup 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[ext: omni.kit.window.script_editor-1.7.6] startup [5.643s] [ext: omni.kit.profiler.window-2.2.1] startup 2024-07-05 12:45:49 [5,630ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead [5.651s] [ext: omni.isaac.utils-1.0.1] startup [5.656s] [ext: omni.isaac.cloner-0.8.1] startup [5.659s] [ext: omni.kit.window.stats-0.1.6] startup [5.663s] [ext: isaaclab.python-1.0.0] startup [5.665s] Simulation App Starting 2024-07-05 12:45:49 [5,717ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it [8.189s] app ready [9.652s] Simulation App Startup Complete [INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go1.rough_env_cfg.UnitreeGo1RoughEnvCfg'> [INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go1.agents.rsl_rl_cfg.UnitreeGo1RoughPPORunnerCfg'> [10.762s] [ext: omni.physx.fabric-106.0.16] startup [INFO]: Base environment: Environment device : cuda:0 Physics step-size : 0.005 Rendering step-size : 0.02 Environment step-size : 0.02 Physics GPU pipeline : True Physics GPU simulation: True [INFO] Generating terrains based on curriculum took : 1.907868 seconds [INFO]: Time taken for scene creation : 4.323396 seconds [INFO]: Scene manager: <class InteractiveScene> Number of environments: 32 Environment spacing : 2.5 Source prim name : /World/envs/env_0 Global prim paths : ['/World/ground'] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... 2024-07-05 12:46:03 [19,829ms] [Error] [rtx.mdltranslator.plugin] Texture file referenced in the material parameter defaults wasn't resolved properly: 'file:/home/crp/workspace/IsaacLab/file_download_crp/mdl/TilesMarbleSpiderWhiteBrickBondHoned001_COL_8K.jpg' 2024-07-05 12:46:03 [19,830ms] [Error] [rtx.mdltranslator.plugin] Texture file referenced in the material parameter defaults wasn't resolved properly: 'file:/home/crp/workspace/IsaacLab/file_download_crp/mdl/TilesMarbleSpiderWhiteBrickBondHoned001_NRM_8K.png' 2024-07-05 12:46:03 [19,830ms] [Error] [rtx.mdltranslator.plugin] Texture file referenced in the material parameter defaults wasn't resolved properly: 'file:/home/crp/workspace/IsaacLab/file_download_crp/mdl/TilesMarbleSpiderWhiteBrickBondHoned001_GLOSS_8K.jpg' 2024-07-05 12:46:03 [19,882ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /Visuals/RayCaster.proto0_mesh_id0 that has not been populated [INFO]: Time taken for simulation start : 5.475797 seconds [INFO] Command Manager: <CommandManager> contains 1 active terms. +------------------------------------------------+ | Active Command Terms | +-------+---------------+------------------------+ | Index | Name | Type | +-------+---------------+------------------------+ | 0 | base_velocity | UniformVelocityCommand | +-------+---------------+------------------------+ [INFO] Action Manager: <ActionManager> contains 1 active terms. +------------------------------------+ | Active Action Terms (shape: 12) | +--------+-------------+-------------+ | Index | Name | Dimension | +--------+-------------+-------------+ | 0 | joint_pos | 12 | +--------+-------------+-------------+ Module omni.isaac.lab.utils.warp.kernels load on device 'cuda:0' took 2.69 ms [INFO] Observation Manager: <ObservationManager> contains 1 groups. +----------------------------------------------------------+ | Active Observation Terms in Group: 'policy' (shape: (235,)) | +-----------+--------------------------------+-------------+ | Index | Name | Shape | +-----------+--------------------------------+-------------+ | 0 | base_lin_vel | (3,) | | 1 | base_ang_vel | (3,) | | 2 | projected_gravity | (3,) | | 3 | velocity_commands | (3,) | | 4 | joint_pos | (12,) | | 5 | joint_vel | (12,) | | 6 | actions | (12,) | | 7 | height_scan | (187,) | +-----------+--------------------------------+-------------+ [INFO] Event Manager: <EventManager> contains 2 active terms. +--------------------------------------+ | Active Event Terms in Mode: 'startup' | +----------+---------------------------+ | Index | Name | +----------+---------------------------+ | 0 | physics_material | | 1 | add_base_mass | +----------+---------------------------+ +---------------------------------------+ | Active Event Terms in Mode: 'reset' | +--------+------------------------------+ | Index | Name | +--------+------------------------------+ | 0 | base_external_force_torque | | 1 | reset_base | | 2 | reset_robot_joints | +--------+------------------------------+ [INFO] Termination Manager: <TerminationManager> contains 2 active terms. +---------------------------------+ | Active Termination Terms | +-------+--------------+----------+ | Index | Name | Time Out | +-------+--------------+----------+ | 0 | time_out | True | | 1 | base_contact | False | +-------+--------------+----------+ [INFO] Reward Manager: <RewardManager> contains 10 active terms. +-----------------------------------------+ | Active Reward Terms | +-------+----------------------+----------+ | Index | Name | Weight | +-------+----------------------+----------+ | 0 | track_lin_vel_xy_exp | 1.5 | | 1 | track_ang_vel_z_exp | 0.75 | | 2 | lin_vel_z_l2 | -2.0 | | 3 | ang_vel_xy_l2 | -0.05 | | 4 | dof_torques_l2 | -0.0002 | | 5 | dof_acc_l2 | -2.5e-07 | | 6 | action_rate_l2 | -0.01 | | 7 | feet_air_time | 0.01 | | 8 | flat_orientation_l2 | 0.0 | | 9 | dof_pos_limits | 0.0 | +-------+----------------------+----------+ [INFO] Curriculum Manager: <CurriculumManager> contains 1 active terms. +---------------------------+ | Active Curriculum Terms | +--------+------------------+ | Index | Name | +--------+------------------+ | 0 | terrain_levels | +--------+------------------+ Creating window for environment. [INFO]: Completed setting up the environment... [INFO] Loading experiment from directory: /home/crp/workspace/IsaacLab/logs/rsl_rl/unitree_go1_rough [INFO]: Loading model checkpoint from: /home/crp/workspace/IsaacLab/logs/rsl_rl/unitree_go1_rough/2024-07-03_21-17-38/model_1499.pt Actor MLP: Sequential( (0): Linear(in_features=235, out_features=512, bias=True) (1): ELU(alpha=1.0) (2): Linear(in_features=512, out_features=256, bias=True) (3): ELU(alpha=1.0) (4): Linear(in_features=256, out_features=128, bias=True) (5): ELU(alpha=1.0) (6): Linear(in_features=128, out_features=12, bias=True) ) Critic MLP: Sequential( (0): Linear(in_features=235, out_features=512, bias=True) (1): ELU(alpha=1.0) (2): Linear(in_features=512, out_features=256, bias=True) (3): ELU(alpha=1.0) (4): Linear(in_features=256, out_features=128, bias=True) (5): ELU(alpha=1.0) (6): Linear(in_features=128, out_features=1, bias=True) ) [INFO]: Loading model checkpoint from: /home/crp/workspace/IsaacLab/logs/rsl_rl/unitree_go1_rough/2024-07-03_21-17-38/model_1499.ptAnd the terrain looks very dark.
System Info
Describe the characteristic of your environment:
- Isaac Sim Version: 4.0.0
- OS: Ubuntu 20.04
- GPU: RTX 3060
- CUDA: 11.5
- GPU Driver: 535.161.08
Additional context
I'm not sure whether I should edit line 57 in velocity_env_cfg.py to load the mdl file locally, and whether the terrain only need one mdl file.
When I run the script at first several times, isaac sim seems to run correctly as the picture shows, and then I met errors mentioned above. (This may be related to nucleus server.)
Checklist
- [x] I have checked that there is no similar issue in the repo (required)
- [ ] I have checked that the issue is not in running Isaac Sim itself and is related to the repo
Acceptance Criteria
Add the criteria for which this task is considered done. If not known at issue creation time, you can add this once the issue is assigned.
- [ ] Criteria 1
- [ ] Criteria 2
I have kind of solved this problem by downloading the assets-pack following #534
Describe the bug
When I run "./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 32", it report that it failed to open the needed mdl file, which might be caused by the unstable connection to nucleus server (I have confirmed that I have connected to nucleus server and this bug did not occur during the previous run). Then I download the needed mdl file, changed the reading path of the mdl file from url to the local path on the local computer, it reports that "Texture file referenced in the material parameter defaults wasn't resolved properly", and the terrain looks very dark in isaac sim.
Steps to reproduce
Firstly, run "./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 32".(You need to have a trained policy beforehand.)
You may not meet the "failed to open the needed mdl file" error below at first, but this error occurs to me after I run this command several times. I think this error is related to nucleus server, so if you want to reproduce this error, you may need to stop the nucleus server. (This might not be an important problem because I use wget to download the needed mdl file afterwards.) And Here are the terminal logs:
And the terrain in isaac sim looks red.
Then I download the mdl file using wget,
and change the path defined in "~/workspace/saaclab/source/extensions/omniisaac.lab tasks/omni/isaac/lab tasks/manager_basedAocomotion/velocity/velocity, env cfg.py line 57" from url to the local path.
After this step, I run "./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 32" again.
And it reports that "Texture file referenced in the material parameter defaults wasn't resolved properly":
And the terrain looks very dark.
System Info
Describe the characteristic of your environment:
Additional context
I'm not sure whether I should edit line 57 in velocity_env_cfg.py to load the mdl file locally, and whether the terrain only need one mdl file.
When I run the script at first several times, isaac sim seems to run correctly as the picture shows, and then I met errors mentioned above. (This may be related to nucleus server.)
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