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Isaac Sim Version
4.2.0
Isaac Lab Version (if applicable)
1.2
Operating System
Ubuntu 20.04
/home/intel/anaconda3/envs/isaaclab/bin/python /home/intel/IsaacLab/source/standalone/demos/hands.py
[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the AppLauncher.add_app_launcher_args method. This allows the method to check the validity of the arguments and perform checks for argument names.
[INFO][AppLauncher]: Loading experience file: /home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/…/…/…/…/…/…/apps/isaaclab.python.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: [‘omni.kit_app’] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(…)
Starting kit application with the following args: [‘/home/intel/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py’, ‘/home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/…/…/…/…/…/…/apps/isaaclab.python.kit’, ‘–/app/tokens/exe-path=/home/intel/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni’, ‘–/persistent/app/viewport/displayOptions=3094’, ‘–/rtx/materialDb/syncLoads=True’, ‘–/rtx/hydra/materialSyncLoads=True’, ‘–/omni.kit.plugin/syncUsdLoads=True’, ‘–/app/renderer/resolution/width=1280’, ‘–/app/renderer/resolution/height=720’, ‘–/app/window/width=1440’, ‘–/app/window/height=900’, ‘–/renderer/multiGpu/enabled=True’, ‘–/app/fastShutdown=True’, ‘–ext-folder’, ‘/home/intel/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts’, ‘–ext-folder’, ‘/home/intel/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/apps’, ‘–/renderer/activeGpu=0’, ‘–/physics/cudaDevice=0’, ‘–portable’, ‘–/app/window/hideUi=False’]
Passing the following args to the base kit application:
Loading user config located at: ‘/home/intel/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.1/user.config.json’
[Info] [carb] Logging to file: /home/intel/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.1/kit_20241104_234753.log
2024-11-04 15:47:53 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn’t available.
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|---------------------------------------------------------------------------------------------|
| Driver Version: 535.161.07 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4080 SUPER | Yes: 0 | | 16622 MB | 10de | 0 |
| | | | | | 2702 | f063c87f… |
| | | | | | 1 | |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-124-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Core™ i9-14900K | Cores: 24 | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64057 | Free Memory: 57464
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
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2024-11-04 15:47:56 [2,203ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
Warp 1.2.1 initialized:
CUDA Toolkit 11.8, Driver 12.2
Devices:
“cpu” : “x86_64”
“cuda:0” : “NVIDIA GeForce RTX 4080 SUPER” (16 GiB, sm_89, mempool enabled)
Kernel cache:
/home/intel/.cache/warp/1.2.1
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2024-11-04 15:47:56 [2,449ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance.
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[2.779s] [ext: omni.kit.property.transform-1.5.9] startup
[2.782s] [ext: omni.kit.property.camera-1.0.8] startup
[2.784s] [ext: omni.kit.property.audio-1.0.14] startup
[2.786s] [ext: omni.graph.bundle.action-2.4.1] startup
[2.790s] [ext: omni.physx.bundle-106.1.9] startup
[2.791s] [ext: omni.kit.window.script_editor-1.7.6] startup
[2.796s] [ext: omni.kit.property.bundle-1.3.1] startup
[2.800s] [ext: omni.kit.window.status_bar-0.1.7] startup
[2.803s] [ext: omni.kit.window.title-1.1.5] startup
[2.805s] [ext: omni.replicator.isaac-1.15.2] startup
[2.815s] [ext: omni.replicator.replicator_yaml-2.0.6] startup
[2.825s] [ext: omni.rtx.settings.core-0.6.3] startup
[2.831s] [ext: omni.kit.window.commands-0.2.6] startup
[2.835s] [ext: semantics.schema.editor-0.3.8] startup
[2.840s] [ext: semantics.schema.property-1.0.4] startup
[2.841s] [ext: omni.kit.window.console-0.2.13] startup
[2.846s] [ext: omni.kit.profiler.window-2.2.3] startup
[2.925s] [ext: omni.isaac.utils-1.0.1] startup
[2.928s] [ext: omni.isaac.cloner-0.8.1] startup
[2.928s] [ext: omni.kit.window.stats-0.1.6] startup
[2.931s] [ext: isaaclab.python-1.1.0] startup
[2.933s] Simulation App Starting
[4.129s] app ready
[4.856s] Simulation App Startup Complete
2024-11-04 15:47:58 [4,774ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
[5.150s] [ext: omni.physx.fabric-106.1.9] startup
2024-11-04 15:51:20 [206,512ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp – In </World/Origin1/Robot>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.1/Isaac/Robots/AllegroHand/allegro_hand_instanceable.usd@ for reference introduced by @anon:0x16026740:World0.usd@</World/Origin1/Robot>. (recomposing stage on stage @anon:0x16026740:World0.usd@ <0x13f4d530>)
2024-11-04 15:51:20 [206,535ms] [Warning] [omni.isaac.lab.sim.utils] Could not perform ‘modify_rigid_body_properties’ on any prims under: ‘/World/Origin1/Robot’. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths:
2024-11-04 15:51:20 [206,535ms] [Warning] [omni.isaac.lab.sim.utils] Could not perform ‘modify_articulation_root_properties’ on any prims under: ‘/World/Origin1/Robot’. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths:
2024-11-04 15:55:19 [445,475ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp – In </World/Origin2/Robot>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.1/Isaac/Robots/ShadowHand/shadow_hand_instanceable.usd@ for reference introduced by @anon:0x16026740:World0.usd@</World/Origin2/Robot>. (recomposing stage on stage @anon:0x16026740:World0.usd@ <0x13f4d530>)
2024-11-04 15:55:19 [445,493ms] [Warning] [omni.isaac.lab.sim.utils] Could not perform ‘modify_rigid_body_properties’ on any prims under: ‘/World/Origin2/Robot’. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths:
2024-11-04 15:55:19 [445,493ms] [Warning] [omni.isaac.lab.sim.utils] Could not perform ‘modify_articulation_root_properties’ on any prims under: ‘/World/Origin2/Robot’. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths:
2024-11-04 15:55:19 [445,493ms] [Warning] [omni.isaac.lab.sim.utils] Could not perform ‘modify_fixed_tendon_properties’ on any prims under: ‘/World/Origin2/Robot’. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths:
2024-11-04 15:55:19 [445,493ms] [Warning] [omni.isaac.lab.sim.utils] Could not perform ‘modify_joint_drive_properties’ on any prims under: ‘/World/Origin2/Robot’. This might be because of the following reasons:
(1) The desired attribute does not exist on any of the prims.
(2) The desired attribute exists on an instanced prim.
Discovered list of instanced prim paths:
Traceback (most recent call last):
File “/home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py”, line 92, in
lambda event, obj=weakref.proxy(self): obj._initialize_callback(event),
File “/home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py”, line 263, in _initialize_callback
self._initialize_impl()
File “/home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py”, line 895, in _initialize_impl
raise RuntimeError(
RuntimeError: Failed to find an articulation when resolving ‘/World/Origin1/Robot’. Please ensure that the prim has ‘USD ArticulationRootAPI’ applied.
Traceback (most recent call last):
File “/home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py”, line 92, in
lambda event, obj=weakref.proxy(self): obj._initialize_callback(event),
File “/home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py”, line 263, in _initialize_callback
self._initialize_impl()
File “/home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py”, line 895, in _initialize_impl
raise RuntimeError(
RuntimeError: Failed to find an articulation when resolving ‘/World/Origin2/Robot’. Please ensure that the prim has ‘USD ArticulationRootAPI’ applied.
[INFO]: Setup complete…
Traceback (most recent call last):
File “/home/intel/IsaacLab/source/standalone/demos/hands.py”, line 164, in
main()
File “/home/intel/IsaacLab/source/standalone/demos/hands.py”, line 159, in main
run_simulator(sim, scene_entities, scene_origins)
File “/home/intel/IsaacLab/source/standalone/demos/hands.py”, line 114, in run_simulator
root_state = robot.data.default_root_state.clone()
File “/home/intel/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py”, line 107, in data
return self._data
AttributeError: ‘Articulation’ object has no attribute ‘_data’. Did you mean: ‘data’?
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Annotators’ for removal
2024-11-04 15:55:20 [446,784ms] [Warning] [omni.graph.core.plugin] Could not find category ‘Replicator:Core’ for removal
2024-11-04 15:55:20 [446,933ms] [Warning] [carb] Recursive unloadAllPlugins() detected!