I am trying to replicate carter_2dnav example given in ros_workspace. However, instead of using Carter I am using my custom built mobile base and manipulator (UR10) on top of it. I have generated the map using Occupancy Map Generator and using the same action graphs as used in carter_2dnav example with slight modifications as my custom built mobile base has 4 wheels.
Whenever I try to run the simulation, it crashes every time with following error:
2023-01-04 10:58:42 [57,021ms] [Warning] [omni.physx.plugin] The rigid body at /World/mm_navigation/mobile_manipulator/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass. 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. If you do not want the objects to collide, add colliders regardless then disable the ‘enable collision’ property.
2023-01-04 10:58:42 [57,022ms] [Warning] [carb.flatcache.plugin] Type tag does not have a corresponding USD type
2023-01-04 10:58:42 [57,038ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2023-01-04 10:58:42 [57,154ms] [Warning] [omni.graph.core.plugin] OmniGraph Warning: Prim path expression is invalid, a prim matching the expression needs to created before wrapping it as view (from compute() at line 110 in /home/labuser/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/nodes/OgnIsaacArticulationController.py)
2023-01-04 10:58:42 [57,209ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2023-01-04 10:58:42 [57,210ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2023-01-04 10:58:42 [57,210ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2023-01-04 10:58:42 [57,210ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2023-01-04 10:58:42 [57,210ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2023-01-04 10:58:42 [57,210ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2023-01-04 10:58:42 [57,210ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2023-01-04 10:58:42 [57,210ms] [Fatal] [omni.usd] Used null prim
2023-01-04 10:58:42 [57,544ms] [Error] [carb.crashreporter-breakpad.plugin] crash detected
2023-01-04 10:58:42 [57,544ms] [Warning] [carb.crashreporter-breakpad.plugin] A crash has occurred. If a debugger should be attached, please set the ‘/crashreporter/debuggerAttachTimeoutMs’ setting to a timeout in milliseconds. This can be used to allow the crash reporter to wait for up to that long for a debugger to attach before processing or sending the crash report.
2023-01-04 10:58:42 [57,545ms] [Warning] [carb.crashreporter-breakpad.plugin] Uploading minidump: file:‘/home/labuser/.local/share/ov/data/Kit/Isaac-Sim/2022.1/c6d89bfd-9b40-4f89-1e23a4ac-80015aca.dmp’ svr:‘https://services.nvidia.com/submit’
Please help with this persistent issue.