Anymal standalone example

Hi!

I’m facing issues running the anymal standalone example and need some help. The command I used to run the script is: ./python.sh standalone_examples/api/omni.isaac.quadruped/anymal_standalone.py

The robot is walking with it’s knee on the ground:
Screencast from 2024-03-24 03 40 35 PM

Here are the logs:


2024-03-24 19:09:17 [81,610ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-03-24 19:09:17 [81,610ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[82.349s] app ready
2024-03-24 19:09:19 [82,858ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-03-24 19:09:19 [82,858ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[83.694s] RTX ready
[94.528s] Simulation App Startup Complete
2024-03-24 19:11:22 [205,814ms] [Warning] [omni.hydra] Mesh '/World/Anymal/base/visuals' has corrupted data in primvar 'st': buffer size 702 doesn't match expected size 12828 in faceVarying primvars
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_3 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_4 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,663ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_front/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_front/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_rear/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_rear/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,664ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/lidar_cage/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:22 [206,692ms] [Warning] [omni.physx.plugin] Detected an articulation at /World/Anymal with more than 4 velocity iterations being added to a TGS scene.The related behavior changed recently, please consult the changelog. This warning will only print once.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_3 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_4 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_front/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_front/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_rear/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_rear/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:26 [210,551ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/lidar_cage/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_3 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/base/collisions/mesh_4 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LF_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/LH_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,617ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RF_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_HFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_thigh_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_KFE/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_shank_fixed/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/RH_FOOT/collisions/mesh_0 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_front/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_front/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_rear/collisions/mesh_1 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/face_rear/collisions/mesh_2 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:11:29 [213,618ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Anymal/lidar_cage/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2024-03-24 19:12:12 [256,159ms] [Warning] [carb] Client omni.ui has acquired [carb::svg::Svg v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2024-03-24 19:12:12 [256,159ms] [Warning] [carb] Client omni.ui has acquired [omni::kit::renderer::IRenderer v1.9] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2024-03-24 19:23:53 [957,705ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: syntax error

2024-03-24 19:23:53 [957,762ms] [Warning] [omni.usd] Warning: in AppendProperty at line 858 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/sdf/path.cpp -- Can only append a property 'isaac:nameOverride' to a prim path (/)

2024-03-24 19:24:09 [973,263ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: syntax error

Thanks!

Hi @hejunpeng0420 - Are you following steps in this document? Quadruped Example — Omniverse IsaacSim latest documentation

Hi @rthaker, yes I’ve followed all the steps in this document.

I’ve tried all the versions, and the above issue happens on all of them except 2022.1.1. On 2022.1.1 the robot can walk a bit better, and the logs contains less warning, but the robot still don’t walk correctly and cannot stand still when there’s no movement(seems like it is continuously tapping it’s feet to keep balance):

Screencast from 2024-03-25 07 33 33 PM

2024-03-25 23:22:44 [10,343ms] [Warning] [omni.client.plugin]  Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Auth/Credentials search: Not connected
2024-03-25 23:22:44 [10,343ms] [Warning] [omni.client.plugin]  Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Auth/Tokens search: Not connected
2024-03-25 23:22:44 [10,343ms] [Warning] [omni.client.plugin]  Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Api/Connection search: Not connected
2024-03-25 23:24:27 [113,519ms] [Warning] [omni.hydra] Mesh /World/Anymal/base/visuals has corrupted data in primvar st: buffer size 702 doesn't match expected size 12828 in faceVarying primvars
2024-03-25 23:24:28 [113,814ms] [Warning] [carb.flatcache.plugin] Type tag does not have a corresponding USD type
2024-03-25 23:24:28 [113,845ms] [Warning] [gpu.foundation.plugin] Requesting texture to use texture streaming, but the service isn't available.The texture will be created as a regular resource.
2024-03-25 23:24:46 [132,306ms] [Warning] [omni.hydra] Mesh /World/Anymal/base/visuals has corrupted data in primvar st: buffer size 702 doesn't match expected size 12828 in faceVarying primvars
2024-03-25 23:24:47 [132,985ms] [Warning] [omni.hydra] Mesh /World/Anymal/base/visuals has corrupted data in primvar st: buffer size 702 doesn't match expected size 12828 in faceVarying primvars
2024-03-25 23:25:49 [194,841ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: syntax error

2024-03-25 23:25:52 [197,841ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: syntax error