Hi everyone,
I am working on AWS g6.2xlarge instance with isaac-sim 4.5.0 docker. I installed RealVNC and X11 necessary to get visuals of the instance and I was also using webRTC to get visuals
from “./runheadless.sh -v”
I have also installed Isaac-sim VS code edition, installed its extnsion and trying to run urdf_import.py from folder standalone_example/api/
I am running this code line by line and also all at once, at urdf isaac-sim stops in webRTC and in terminal “Stream Server: stream0 0x7f83fc2ad690 (type 1) stopped”,
,
import omni.kit.commands
from isaacsim.core.prims import Articulation
from isaacsim.core.utils.extensions import get_extension_path_from_name
from pxr import Gf, PhysxSchema, Sdf, UsdLux, UsdPhysics
status, import_config = omni.kit.commands.execute(“URDFCreateImportConfig”)
import_config.merge_fixed_joints = False
import_config.convex_decomp = False
import_config.import_inertia_tensor = True
import_config.fix_base = False
import_config.distance_scale = 1.0
stage = omni.usd.get_context().get_stage()
scene = UsdPhysics.Scene.Define(stage, Sdf.Path(“/physicsScene”))
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
PhysxSchema.PhysxSceneAPI.Apply(stage.GetPrimAtPath(“/physicsScene”))
physxSceneAPI = PhysxSchema.PhysxSceneAPI.Get(stage, “/physicsScene”)
#… and other physxscene settings all run well “executed without output”
omni.kit.commands.execute(
“AddGroundPlaneCommand”,
stage=stage,
planePath=“/groundPlane”,
axis=“Z”,
size=1500.0,
position=Gf.Vec3f(0, 0, -0.50),
color=Gf.Vec3f(0.5),
)
extension_path = get_extension_path_from_name(“isaacsim.asset.importer.urdf”)
status, prim_path = omni.kit.commands.execute(
“URDFParseAndImportFile”,
urdf_path=extension_path + “/data/urdf/robots/carter/urdf/carter.urdf”,
import_config=import_config,
get_articulation_root=True,
)
I tried other URDFs too. Can you please help me with this issue.
Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
GPU Information
- Model: L4
- Driver Version: Nvidia 570
Topic Description
Detailed Description
(Describe the issue in detail, including what you were trying to do, what you expected to happen, and what actually happened)
Steps to Reproduce
- AWS instance + 4.5.0 docker
- ./runheadless.sh -v + webRTC client launch
- Isaac-sim VS code edition > /isaac-sim/stand-alone-examples/api/import_urdf.py
- Run it whole or line by line when I execute urdf part, isaac sim crashes in WebRTC with msg in its terminal
Stream Server: stream0 0x7fa33c307090 (type 1) stopped