Isaac Sim hanging when following "Adding a Manipulator Robot" tutorial in Core API

Omniverse Isaac Sim
,
1

As stated, when I try to run the omni.isaac.franka example (Adding a Manipulator Robot — Omniverse IsaacSim) the GUI is hanging and then I need to kill it.

The “Hello Robot” and “Adding a Controller” tutorials before that work fine with the jetbot. It seems it has to do with the franka extension because I removed that world.scene.add() line and it loaded in the Cube properly.

Whats the best way to trouble shoot this and what other information can I provide to help narrow this down?

Here are some details on my setup:

  • Isaac Sim Version = 4.2.0
  • OS = Ubuntu 22.04
  • GPU = 4080 Super, 555.42.02

Edit: It does look like I can load in the UR10 so it seems to have something to do with the Franka class possibly.

2

I came across the same problem, and failed to find any solution.

3

@fredscott22 @zhangzhiwei1106 do you experience the issue even when using the following first code from Adding a Manipulator Robot — Omniverse IsaacSim?

from omni.isaac.examples.base_sample import BaseSample
# This extension has franka related tasks and controllers as well
from omni.isaac.franka import Franka
from omni.isaac.core.objects import DynamicCuboid
import numpy as np


class HelloWorld(BaseSample):
    def __init__(self) -> None:
        super().__init__()
        return

    def setup_scene(self):
        world = self.get_world()
        world.scene.add_default_ground_plane()
        # Robot specific class that provides extra functionalities
        # such as having gripper and end_effector instances.
        franka = world.scene.add(Franka(prim_path="/World/Fancy_Franka", name="fancy_franka"))
        # add a cube for franka to pick up
        world.scene.add(
            DynamicCuboid(
                prim_path="/World/random_cube",
                name="fancy_cube",
                position=np.array([0.3, 0.3, 0.3]),
                scale=np.array([0.0515, 0.0515, 0.0515]),
                color=np.array([0, 0, 1.0]),
            )
        )
        return
4

Hi Vick. Thanks for your reply.
Yes, it still hanged.
I printed out the usd_pathvalue inside Franka’s constructor (in file franka.py, Line 60), and found that it was an aws file : http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Robots/Franka/franka.usd . I downloaded the usd file, and dropped to Isaacsim window, and it gave nothing. In the stage tree, it warned that the geometry references were missing.
In Import URDF, it performs the same task, but the model is from a local file. This time, it works.

5

This issue still occurs in Adding Multiple Robots tutorial - Adding Multiple Robots — Omniverse IsaacSim

6

@VickNV I think it hangs because of adding Tasks. If I comment out the code from Tasks, it will work.