Isaac Sim Version
4.2.0
Isaac Lab Version (if applicable)
1.2
Operating System
Ubuntu 20.04
GPU Information
- Model: RTX
- Driver Version: 3080 Ti
Topic Description
Detailed Description
Actually, I am going to migrate the depoly of quadruped spot extension to unitree-go2.
I can load the go2 and control it. However, I can not stop and restart it in isaacsim. I click ‘stop’ and then click ‘play’. It shows weird scene with errors in the terminal as follows:
I find that I have to use ‘RESET’ botton of the extension to play it again.
Firstly, I thought there was some thing wrong in my code since I am not quite familiar with isaacsim. But I tried the examples of ‘spot’ directly, it was the same.
This does not feel like a decent implementation. I wonder why this happens and how I can fix this problem.
Steps to Reproduce
- In the UI, go to ‘Isaac Examples’ menu;
- Then chose ‘Quadruped’ and click ‘load’;
- The robot starts to play autonomously and can be controled with keyboard;
- Then click ‘stop’. The robot 's play is stoped;
- Click ‘play’, however, the robot can’t play normally. And errors appear in the isaacsim termial as follows.
(Add more steps as needed)
Error Messages
(If applicable, copy and paste any error messages you received)
2024-10-27 06:25:59 [7,027,850ms] [Warning] [omni.isaac.core.articulations.articulation_view] Physics Simulation View is not created yet in order to use set_joint_efforts
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/daojie/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.examples/omni/isaac/examples/go2/go2_example.py", line 106, in _timeline_timer_callback_fn
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: self.spot.post_reset()
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/daojie/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.examples/omni/isaac/examples/go2/g2.py", line 164, in post_reset
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: self.robot.post_reset()
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/daojie/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/prims/_impl/single_prim_wrapper.py", line 131, in post_reset
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: self._prim_view.post_reset()
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/daojie/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 2457, in post_reset
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: ArticulationView.set_gains(self, kps=self._default_kps, kds=self._default_kds)
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/daojie/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 2896, in set_gains
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: if prim.HasAPI(UsdPhysics.DriveAPI):
2024-10-27 06:25:59 [7,027,851ms] [Error] [omni.kit.app._impl] [py stderr]: RuntimeError: Accessed invalid null prim
2024-10-27 06:25:59 [7,027,851ms] [Warning] [omni.isaac.core.articulations.articulation_view] Physics Simulation View is not created yet in order to use set_joint_positions
2024-10-27 06:25:59 [7,027,852ms] [Warning] [omni.isaac.core.articulations.articulation_view] Physics Simulation View is not created yet in order to use set_joint_velocities
2024-10-27 06:25:59 [7,027,852ms] [Warning] [omni.isaac.core.articulations.articulation_view] Physics Simulation View is not created yet in order to use set_joint_efforts
Screenshots or Videos
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Additional Information
What I’ve Tried
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Related Issues
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Additional Context
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