Error when running omniisaacgymenvs example!

I configured the omniisaacgymenvs environment according to this page and ran the example, everything works fine when I run “Cartpole”, but when I run “FrankaCabinet”, I get the following error. I changed numEnvs to 16, and I still get the same error, does it look like the usd for franka is not loaded? What should I do to correct this? Thanks a lot!

Setting seed: 42
Sim params does not have attribute:  physx
Sim params does not have attribute:  franka
Sim params does not have attribute:  cabinet
Sim params does not have attribute:  prop
Pipeline:  GPU
Pipeline Device:  cuda:0
Sim Device:  GPU
Task Device: cuda:0
RL device:  cuda:0
2024-06-15 08:11:53 [86,941ms] [Warning] [omni.client.plugin]  Tick: provider_nucleus: Auth: Failed to create transport: Transport constructor is not found by description
2024-06-15 08:18:46 [500,096ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/franka>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Robots/Franka/franka_instanceable.usd@ for reference introduced by @anon:0x1c8e2450:World1.usd@</World/envs/env_0/franka>. (recomposing stage on stage @anon:0x1c8e2450:World1.usd@ <0x1af12860>)

2024-06-15 08:18:47 [501,221ms] [Error] [omni.kit.app._impl] [py stderr]: Error executing job with overrides: ['task=FrankaCabinet']

Error executing job with overrides: ['task=FrankaCabinet']
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):

Traceback (most recent call last):
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/scripts/rlgames_train.py", line 145, in parse_hydra_configs
    task = initialize_task(cfg_dict, env)

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/scripts/rlgames_train.py", line 145, in parse_hydra_configs
    task = initialize_task(cfg_dict, env)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/utils/task_util.py", line 105, in initialize_task
    env.set_task(

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/utils/task_util.py", line 105, in initialize_task
    env.set_task(
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py", line 47, in set_task
    super().set_task(task, backend, sim_params, init_sim, rendering_dt)

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py", line 47, in set_task
    super().set_task(task, backend, sim_params, init_sim, rendering_dt)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.gym/omni/isaac/gym/vec_env/vec_env_base.py", line 129, in set_task
    self._world.reset()

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.gym/omni/isaac/gym/vec_env/vec_env_base.py", line 129, in set_task
    self._world.reset()
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 401, in reset
    task.set_up_scene(self.scene)

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 401, in reset
    task.set_up_scene(self.scene)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/franka_cabinet.py", line 67, in set_up_scene
    self.get_franka()

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/franka_cabinet.py", line 67, in set_up_scene
    self.get_franka()
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/franka_cabinet.py", line 128, in get_franka
    franka = Franka(prim_path=self.default_zero_env_path + "/franka", name="franka")

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/franka_cabinet.py", line 128, in get_franka
    franka = Franka(prim_path=self.default_zero_env_path + "/franka", name="franka")
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/robots/articulations/franka.py", line 76, in __init__
    set_drive(

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/robots/articulations/franka.py", line 76, in __init__
    set_drive(
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/utils/usd_utils.py", line 79, in set_drive
    drive = set_drive_type(prim_path, drive_type)

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/utils/usd_utils.py", line 79, in set_drive
    drive = set_drive_type(prim_path, drive_type)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/utils/usd_utils.py", line 39, in set_drive_type
    drive = UsdPhysics.DriveAPI.Apply(joint_prim, drive_type)

  File "/home/god/.local/share/ov/pkg/isaac_sim-2023.1.1/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/utils/usd_utils.py", line 39, in set_drive_type
    drive = UsdPhysics.DriveAPI.Apply(joint_prim, drive_type)
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: pxr.Tf.ErrorException: 
	Error in 'pxrInternal_v0_22__pxrReserved__::UsdPrim::_ApplyAPI' at line 450 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/prim.cpp : 'Invalid prim 'null prim''

pxr.Tf.ErrorException: 
	Error in 'pxrInternal_v0_22__pxrReserved__::UsdPrim::_ApplyAPI' at line 450 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/prim.cpp : 'Invalid prim 'null prim''
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-06-15 08:18:47 [501,464ms] [Error] [omni.kit.app._impl] [py stderr]: 
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.


Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
2024-06-15 08:18:47 [501,467ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/god/.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
2024-06-15 08:18:47 [501,484ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2024-06-15 08:18:47 [501,484ms] [Warning] [carb.audio.context] 1 contexts were leaked
2024-06-15 08:18:47 [501,502ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2024-06-15 08:18:47 [501,508ms] [Warning] [omni.core.ITypeFactory] Module /home/god/.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.
There was an error running python

Also, I’m not sure if this has anything to do with these few problems when configuring the environment, I read online that it could be the network problem, so I tried a second time **PYTHON_PATH -m pip install -e . ** and then it didn’t report this error anymore, I’m not sure if this solves the problem?


Second install:

1 Like

This seems to be an issue with loading the asset files. Could you please try updating to the latest Isaac Sim 4.0 release? The errors during pip install are likely not related to the issue and should be safe to ignore.

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