I have a problem loading USD files when using isaaclab’s tutorials
ubuntu22.04 isaacsim4.2 isaaclab1.2
（Install isaacsim via pip）
I have a problem when running source/standalone/tutorials/02_scene/create_scene.py.
ubuntu22@ubuntu22:~/app/IsaacLab$ /home/ubuntu22/app/anaconda3/envs/isaaclab/bin/python /home/ubuntu22/app/IsaacLab/source/standalone/tutorials/02_scene/create_scene.py
[INFO][AppLauncher]: Loading experience file: /home/ubuntu22/app/IsaacLab/source/apps/isaaclab.python.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: ['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(...)
Loading user config located at: '/home/ubuntu22/app/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json'
[Info] [carb] Logging to file: /home/ubuntu22/app/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20241024_164200.log
2024-10-24 08:42:00 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
|---------------------------------------------------------------------------------------------|
| Driver Version: 550.107.02 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4070 Ti | Yes: 0 | | 12528 MB | 10de | 0 |
| | | | | | 2782 | 02bf960c.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-47-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: Intel(R) Core(TM) i7-14700K | Cores: 20 | Logical: 28
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31828 | Free Memory: 23622
| Total Page/Swap (MB): 9536 | Free Page/Swap: 9536
|---------------------------------------------------------------------------------------------|
2024-10-24 08:42:01 [655ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
2024-10-24 08:42:05 [5,272ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
2024-10-24 08:42:09 [9,005ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/Robot/pole/collisions>: Could not open asset @/home/ubuntu22/Downloads/Props/instanceable_meshes.usd@ for reference introduced by @/home/ubuntu22/Downloads/cartpole.usd@</cartpole/pole/collisions>. (recomposing stage on stage @anon:0x16ab99c0:World0.usd@ <0x14b0f1d0>)
.....
2024-10-24 08:42:10 [10,041ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_1/Robot/cart/visuals>: Could not open asset @/home/ubuntu22/Downloads/Props/instanceable_meshes.usd@ for reference introduced by @/home/ubuntu22/Downloads/cartpole.usd@</cartpole/cart/visuals>. (recomposing stage on stage @anon:0x16ab99c0:World0.usd@ <0x14b0f1d0>)
2024-10-24 08:42:10 [10,242ms] [Warning] [omni.physx.plugin] The rigid body at /World/envs/env_0/Robot/slider has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
[INFO]: Setup complete...
[INFO]: Resetting robot state...
2024-10-24 08:42:26 [26,064ms] [Warning] [omni.isaac.lab.sim.simulation_context] Simulation is stopped. The app will keep running with physics disabled. Press Ctrl+C or close the window to exit the app.
[INFO]: Simulation is stopped. Shutting down the app.
I checked the log and found an error that prevented isaacsim from starting for a long time:
2024-10-24 08:38:55 [21,274ms] [Info] [carb.omniclient.plugin] HTTP Client: http: libcurl error (56): Failure when receiving data from the peer for http://dcb18d6mfegct.cloudfront.net/Assets/Isaac/4.2/Isaac/IsaacLab/Robots/Classic/Cartpole/cartpole.usd
2024-10-24 08:38:55 [21,457ms] [Info] [carb.omniclient.plugin] HTTP Client: http: libcurl error (56): Failure when receiving data from the peer for http://dcb18d6mfegct.cloudfront.net/Assets/Isaac/4.2/Isaac/IsaacLab/Robots/Classic/Cartpole/cartpole.usd
2024-10-24 08:39:26 [52,619ms] [Info] [carb.omniclient.plugin] HTTP Client: http: libcurl error (56): Failure when receiving data from the peer for http://dcb18d6mfegct.cloudfront.net/Assets/Isaac/4.2/Isaac/IsaacLab/Robots/Classic/Cartpole/cartpole.usd
I clicked the connection and found that I could download directly, and I could verify that my network was fine by ping dcb18d6mfegct.cloudfront.net.
Then, I downloaded the cartpole.usd file, changed usd_path=f"/home/ubuntu22/Downloads/cartpole.usd" in source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py to the local path, and re-ran the python file. At this time, an error occurred again.
At this time, isaacsim can load an empty scene, but cannot load cartpole. The isaacsim display and command line output at this time are as follows:
2024-10-24 08:42:01 [655ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
2024-10-24 08:42:05 [5,272ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
2024-10-24 08:42:09 [9,005ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/Robot/pole/collisions>: Could not open asset @/home/ubuntu22/Downloads/Props/instanceable_meshes.usd@ for reference introduced by @/home/ubuntu22/Downloads/cartpole.usd@</cartpole/pole/collisions>. (recomposing stage on stage @anon:0x16ab99c0:World0.usd@ <0x14b0f1d0>)
......
2024-10-24 08:42:10 [10,041ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_1/Robot/cart/visuals>: Could not open asset @/home/ubuntu22/Downloads/Props/instanceable_meshes.usd@ for reference introduced by @/home/ubuntu22/Downloads/cartpole.usd@</cartpole/cart/visuals>. (recomposing stage on stage @anon:0x16ab99c0:World0.usd@ <0x14b0f1d0>)
2024-10-24 08:42:10 [10,242ms] [Warning] [omni.physx.plugin] The rigid body at /World/envs/env_0/Robot/slider has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
[INFO]: Setup complete...
[INFO]: Resetting robot state...
.....
2024-10-24 08:42:26 [26,064ms] [Warning] [omni.isaac.lab.sim.simulation_context] Simulation is stopped. The app will keep running with physics disabled. Press Ctrl+C or close the window to exit the app.
[INFO]: Simulation is stopped. Shutting down the app.
log file:
kit_20241024_164200.log (958.2 KB)
I’m currently trying to use omniverse to download assets and then get rid of the reliance on cloud assets, I would really appreciate any help you could provide.
https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#assets-and-nucleus