Comments (5)
balakumar-s
commented on June 26, 2024
Thanks for finding this bug. We have a fix that will be pushed soon. In the meantime, to unblock you:
- Remove this line and replace it with:
curobo/examples/isaac_sim/helper.py
Line 107 in 774dcfd
robot_p = Robot(
prim_path=robot_path + "/" + base_link_name,
name=robot_name,
)
from curobo.util.usd_helper import set_prim_transform
robot_prim = robot_p.prim
stage = robot_prim.GetStage()
linkp = stage.GetPrimAtPath(robot_path)
set_prim_transform(linkp, [position[0], position[1], position[2], 1, 0, 0, 0])
from curobo.
songlin
commented on June 26, 2024
@balakumar-s I followed your modification. The robots are placed in the right positions now. However, Isaac-sim crashed when I moved the target cube.
[ERROR] [curobo] changing goal type, breaking previous cuda graph.
NoneType: None
Stack (most recent call last):
File "examples/isaac_sim/batch_motion_gen_reacher.py", line 298, in <module>
main()
File "examples/isaac_sim/batch_motion_gen_reacher.py", line 252, in main
result = motion_gen.plan_batch_env(full_js, ik_goal, plan_config.clone())
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1418, in plan_batch_env
plan_config,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1243, in _plan_batch_attempts
solve_state, start_state, goal_pose, plan_config
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 2082, in _plan_from_solve_state_batch
return_all_solutions=True,
File "/home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/contextlib.py", line 74, in inner
return func(*args, **kwds)
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 991, in _solve_trajopt_from_solve_state
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 560, in solve_any
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 762, in solve_batch_env
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 590, in solve_from_solve_state
goal_buffer = self.update_goal_buffer(solve_state, goal)
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 492, in update_goal_buffer
log_error("changing goal type, breaking previous cuda graph.")
File "/home/songlin/Projects/curobo/src/curobo/util/logger.py", line 44, in log_error
logger.error(txt, exc_info=exc_info, stack_info=stack_info, *args, **kwargs)
Traceback (most recent call last):
File "examples/isaac_sim/batch_motion_gen_reacher.py", line 298, in <module>
main()
File "examples/isaac_sim/batch_motion_gen_reacher.py", line 252, in main
result = motion_gen.plan_batch_env(full_js, ik_goal, plan_config.clone())
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1418, in plan_batch_env
plan_config,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1243, in _plan_batch_attempts
solve_state, start_state, goal_pose, plan_config
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 2082, in _plan_from_solve_state_batch
return_all_solutions=True,
File "/home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/contextlib.py", line 74, in inner
return func(*args, **kwds)
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 991, in _solve_trajopt_from_solve_state
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 560, in solve_any
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 762, in solve_batch_env
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 590, in solve_from_solve_state
goal_buffer = self.update_goal_buffer(solve_state, goal)
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 492, in update_goal_buffer
log_error("changing goal type, breaking previous cuda graph.")
File "/home/songlin/Projects/curobo/src/curobo/util/logger.py", line 45, in log_error
raise
RuntimeError: No active exception to reraise
/home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 368592 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python
Can you help please? I am using Issac-sim 2022.2.1 and installed latest curobo commit
from curobo.
YANGHANJIANG
commented on June 26, 2024
@balakumar-s I followed your modification. The robots are placed in the right positions now. However, Isaac-sim crashed when I moved the target cube.
[ERROR] [curobo] changing goal type, breaking previous cuda graph. NoneType: None Stack (most recent call last): File "examples/isaac_sim/batch_motion_gen_reacher.py", line 298, in <module> main() File "examples/isaac_sim/batch_motion_gen_reacher.py", line 252, in main result = motion_gen.plan_batch_env(full_js, ik_goal, plan_config.clone()) File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1418, in plan_batch_env plan_config, File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1243, in _plan_batch_attempts solve_state, start_state, goal_pose, plan_config File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 2082, in _plan_from_solve_state_batch return_all_solutions=True, File "/home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/contextlib.py", line 74, in inner return func(*args, **kwds) File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 991, in _solve_trajopt_from_solve_state newton_iters=newton_iters, File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 560, in solve_any newton_iters=newton_iters, File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 762, in solve_batch_env newton_iters=newton_iters, File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 590, in solve_from_solve_state goal_buffer = self.update_goal_buffer(solve_state, goal) File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 492, in update_goal_buffer log_error("changing goal type, breaking previous cuda graph.") File "/home/songlin/Projects/curobo/src/curobo/util/logger.py", line 44, in log_error logger.error(txt, exc_info=exc_info, stack_info=stack_info, *args, **kwargs) Traceback (most recent call last): File "examples/isaac_sim/batch_motion_gen_reacher.py", line 298, in <module> main() File "examples/isaac_sim/batch_motion_gen_reacher.py", line 252, in main result = motion_gen.plan_batch_env(full_js, ik_goal, plan_config.clone()) File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1418, in plan_batch_env plan_config, File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1243, in _plan_batch_attempts solve_state, start_state, goal_pose, plan_config File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 2082, in _plan_from_solve_state_batch return_all_solutions=True, File "/home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/contextlib.py", line 74, in inner return func(*args, **kwds) File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 991, in _solve_trajopt_from_solve_state newton_iters=newton_iters, File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 560, in solve_any newton_iters=newton_iters, File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 762, in solve_batch_env newton_iters=newton_iters, File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 590, in solve_from_solve_state goal_buffer = self.update_goal_buffer(solve_state, goal) File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 492, in update_goal_buffer log_error("changing goal type, breaking previous cuda graph.") File "/home/songlin/Projects/curobo/src/curobo/util/logger.py", line 45, in log_error raise RuntimeError: No active exception to reraise /home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 368592 Segmentation fault (core dumped) $python_exe "$@" $args There was an error running pythonCan you help please? I am using Issac-sim 2022.2.1 and installed latest curobo commit
Faced the same issue.
Workaround:
Replace this line
use_cuda_graph=False,from curobo.
songlin
commented on June 26, 2024
thanks
Best,
Songlin Wei
…________________________________
发件人: YANGHANJIANG ***@***.***>
发送时间: Wednesday, April 10, 2024 5:24:42 PM
收件人: NVlabs/curobo ***@***.***>
抄送: Songlin Wei ***@***.***>; Comment ***@***.***>
主题: Re: [NVlabs/curobo] Robot models overlapped in example batch_motion_gen_reacher (Issue #212)
@balakumar-s<https://github.com/balakumar-s> I followed your modification. The robots are placed in the right positions now. However, Isaac-sim crashed when I moved the target cube.
[ERROR] [curobo] changing goal type, breaking previous cuda graph.
NoneType: None
Stack (most recent call last):
File "examples/isaac_sim/batch_motion_gen_reacher.py", line 298, in <module>
main()
File "examples/isaac_sim/batch_motion_gen_reacher.py", line 252, in main
result = motion_gen.plan_batch_env(full_js, ik_goal, plan_config.clone())
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1418, in plan_batch_env
plan_config,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1243, in _plan_batch_attempts
solve_state, start_state, goal_pose, plan_config
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 2082, in _plan_from_solve_state_batch
return_all_solutions=True,
File "/home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/contextlib.py", line 74, in inner
return func(*args, **kwds)
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 991, in _solve_trajopt_from_solve_state
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 560, in solve_any
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 762, in solve_batch_env
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 590, in solve_from_solve_state
goal_buffer = self.update_goal_buffer(solve_state, goal)
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 492, in update_goal_buffer
log_error("changing goal type, breaking previous cuda graph.")
File "/home/songlin/Projects/curobo/src/curobo/util/logger.py", line 44, in log_error
logger.error(txt, exc_info=exc_info, stack_info=stack_info, *args, **kwargs)
Traceback (most recent call last):
File "examples/isaac_sim/batch_motion_gen_reacher.py", line 298, in <module>
main()
File "examples/isaac_sim/batch_motion_gen_reacher.py", line 252, in main
result = motion_gen.plan_batch_env(full_js, ik_goal, plan_config.clone())
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1418, in plan_batch_env
plan_config,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 1243, in _plan_batch_attempts
solve_state, start_state, goal_pose, plan_config
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 2082, in _plan_from_solve_state_batch
return_all_solutions=True,
File "/home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/contextlib.py", line 74, in inner
return func(*args, **kwds)
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/motion_gen.py", line 991, in _solve_trajopt_from_solve_state
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 560, in solve_any
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 762, in solve_batch_env
newton_iters=newton_iters,
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 590, in solve_from_solve_state
goal_buffer = self.update_goal_buffer(solve_state, goal)
File "/home/songlin/Projects/curobo/src/curobo/wrap/reacher/trajopt.py", line 492, in update_goal_buffer
log_error("changing goal type, breaking previous cuda graph.")
File "/home/songlin/Projects/curobo/src/curobo/util/logger.py", line 45, in log_error
raise
RuntimeError: No active exception to reraise
/home/songlin/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 368592 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python
Can you help please? I am using Issac-sim 2022.2.1 and installed latest curobo commit
Faced the same issue.
Workaround:
Replace this line
https://github.com/NVlabs/curobo/blob/774dcfd609847ad98147f166ea2f5954516ff7a0/examples/isaac_sim/batch_motion_gen_reacher.py#L149 with
use_cuda_graph=False,
―
Reply to this email directly, view it on GitHub<#212 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AAGQINNDE3MK3V3TOKCYGGDY4UANVAVCNFSM6AAAAABF3BYIFSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDANBXGAYDQOJSGY>.
You are receiving this because you commented.Message ID: ***@***.***>
from curobo.
balakumar-s
commented on June 26, 2024
We fixed the robot location in latest release.
from curobo.
Related Issues (20)
- Constrained Planning - High physics_dt crashes everything - Isaac 2023.1.1 HOT 1
- Potential issues with the latest release HOT 6
- Error building docker image with issac sim 2023.1.0 HOT 2
- Collapses occur when moving the target cube in the example batch_motion_gen_reacher HOT 1
- python3 -m pytest . error HOT 2
- Runtime Error: Constrained Motion Planning HOT 4
- The result of compute_smoothness() may be incorrect HOT 3
- Isaac sim crashes when opening/loading a usd HOT 1
- "qx, qy, qz, qw" or "qw, qx, qy, qz" HOT 1
- RuntimeError: CUDA error: an illegal memory access was encountered Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions HOT 3
- timeout in MotionGenPlanConfig not strictly enforced HOT 3
- attach_objects_to_robot/detach_object_from_robot HOT 1
- Installation problems for building with nvblox HOT 2
- Failing a 'base case' motion generation planning problem HOT 9
- Error building docker - nvblox_torch installation HOT 3
- Smooth the trajectory
- Error planning to goalset with constraints -- `QuatToMatrix` assumes 1 batch dim HOT 1
- How to reduce the length of trajectory HOT 2
- Velocity scale applied twice to limit HOT 1
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