Hi rthaker,
thanks for the hard work!
I’m having some hiccups after updating to 2023.1.0. Some examples are very slow to launch and kind of buggy.
Now throw some more warnings like:
[…]
2023-10-18 20:36:34 [14,436ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-10-18 20:36:46 [25,928ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
and
[…]
[Lula] Joint 'left_inner_finger_joint' is specified as a mimic joint, but its control chain ['left_inner_finger_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
[Lula] Joint 'left_inner_knuckle_joint' is specified as a mimic joint, but its control chain ['left_inner_knuckle_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
[Lula] Joint 'right_inner_finger_joint' is specified as a mimic joint, but its control chain ['right_inner_finger_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
[Lula] Joint 'right_inner_knuckle_joint' is specified as a mimic joint, but its control chain ['right_inner_knuckle_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
[Lula] Joint 'right_outer_knuckle_joint' is specified as a mimic joint, but its control chain ['right_outer_knuckle_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
and
Throws this error, after stopping the simulation and starting again:
2023-10-18 20:40:19 [238,845ms] [Error] [omni.isaac.motion_generation.articulation_motion_policy] Attempted to compute an action, but the robot Articulation has not been initialized. Cannot get joint positions or velocities.
Exception has occurred: AttributeError
'NoneType' object has no attribute 'astype'
File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 510, in _evaluate_acceleration
joint_positions = joint_positions.astype(np.float64)
File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 503, in _euler_integration
joint_accel = self._evaluate_acceleration(joint_positions, joint_velocities)
File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 489, in _update_robot_joint_states
self._robot_joint_positions, self._robot_joint_velocities = self._euler_integration(
File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 148, in compute_joint_targets
self._update_robot_joint_states(active_joint_positions, active_joint_velocities, frame_duration)
File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/articulation_motion_policy.py", line 102, in get_next_articulation_action
position_targets, velocity_targets = self.motion_policy.compute_joint_targets(
File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/standalone_examples/api/omni.isaac.manipulators/rmpflow_supported_robots/supported_robot_follow_target_example.py", line 122, in <module>
actions = articulation_rmpflow.get_next_articulation_action()
AttributeError: 'NoneType' object has no attribute 'astype'
Is there any new documentation I should refer to?
I’m in Kubuntu 22.04, RTX 3080 Laptop 16GB VRAM.
Thanks!