I was running this code
from pinocchio.robot_wrapper import RobotWrapper
import pinocchio as pin
from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({"headless": False})
from fr3_usd import Franka
from omni.isaac.core import World
from omni.isaac.core import SimulationContext
from omni.isaac.core.objects import VisualCuboid
from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
def main():
world = World(stage_units_in_meters=1.0, physics_dt=1 / 1000)
world.scene.add_default_ground_plane()
simulation_context = SimulationContext()
# Create pin_robot
package_directory = "/home/mocap/Documents/FR3Env/FR3Env"
urdf_path = "/home/mocap/Documents/FR3Env/FR3Env/robots/fr3.urdf"
robot = RobotWrapper.BuildFromURDF(urdf_path, package_directory)
# Load USD of Franka
asset_path = "/home/mocap/Documents/DiffOptIsaac/robots/fr3.usda"
fr3_robot = world.scene.add(
Franka(
prim_path="/World/Fancy_Franka", name="fancy_franka", usd_path=asset_path
)
)
fancy_cube = world.scene.add(
VisualCuboid(
prim_path="/World/random_cube",
name="fancy_cube",
position=np.array([0.4, 0.3, 0.5]),
scale=np.array([0.01, 0.01, 0.01]),
color=np.array([1.0, 0, 0.0]),
)
)
world.reset()
fr3_robot.enable_gravity()
dc = _dynamic_control.acquire_dynamic_control_interface()
articulation = dc.get_articulation("/World/Fancy_Franka")
dc.wake_up_articulation(articulation)
q_init = np.array(
[
0.0,
-0.785398163,
0.0,
-2.35619449,
0.0,
1.57079632679,
0.785398163397,
0.0,
0.0,
]
)
fr3_robot.set_joint_positions(q_init)
tcp_frame_id = robot.model.getFrameId("fr3_hand_tcp")
jacobian_frame = pin.ReferenceFrame.LOCAL_WORLD_ALIGNED
p_des = np.array([0.4, 0.3, 0.5])
while simulation_app.is_running():
q = fr3_robot.get_joint_positions()
dq = fr3_robot.get_joint_velocities()
t = simulation_context.current_time
robot.computeJointJacobians(q)
robot.framesForwardKinematics(q)
robot.centroidalMomentum(q, dq)
G = fr3_robot._articulation_view.get_generalized_gravity_forces()
p = robot.data.oMf[tcp_frame_id].translation
J = robot.getFrameJacobian(tcp_frame_id, jacobian_frame)
p_error = p_des - p
v = J[:3, :] @ dq
tau = J[:3, :].T @ (5.0 * p_error - 5.0 * v) - 1.0 * dq + G
dc.set_articulation_dof_efforts(articulation, tau.flatten().tolist())
world.step(render=True)
simulation_app.close()
if __name__ == "__main__":
main()
And I get issues like
[omni.ext.plugin] [ext: omni.isaac.universal_robots-0.3.2] Failed to startup python extension.
[Error] [omni.ext._impl.custom_importer] Failed to import python module omni.isaac.dofbot. Error: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs.
[Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.dofbot' in '/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.dofbot' failed to load.
The output is
Starting kit application with the following args: ['/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit', '--/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/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts', '--ext-folder', '/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application: []
[Info] [carb] Logging to file: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/logs/Kit/Isaac-Sim/2023.1/kit_20231020_173337.log
2023-10-20 21:33:37 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.054s] [ext: omni.kit.async_engine-0.0.0] startup
[0.401s] [ext: omni.activity.core-1.0.1] startup
[0.404s] [ext: omni.assets.plugins-0.0.0] startup
[0.405s] [ext: omni.stats-0.0.0] startup
[0.406s] [ext: omni.client-1.0.1] startup
[0.412s] [ext: omni.activity.profiler-1.0.2] startup
[0.414s] [ext: omni.gpu_foundation-0.0.0] startup
[0.422s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup
[0.423s] [ext: carb.windowing.plugins-1.0.0] startup
[0.524s] [ext: omni.kit.renderer.init-0.0.0] startup
MESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0
2023-10-20 21:33:37 [726ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RKL GT1)
2023-10-20 21:33:37 [726ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RKL GT1)
|---------------------------------------------------------------------------------------------|
| Driver Version: 520.61.05 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 2080 Ti | Yes: 0 | | 11510 MB | 10de | 0 |
| | | | | | 1e04 | 1f0bed54.. |
| | | | | | 1 | |
|---------------------------------------------------------------------------------------------|
| 1 | Intel(R) Graphics (RKL GT1) | | | 23863 MB | 8086 | 0 |
| | | | | | 4c8a | e6537608.. |
| | | | | | 0 | |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-83-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: 11th Gen Intel(R) Core(TM) i7-11700 @ 2.50GHz | Cores: 8 | Logical: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31817 | Free Memory: 27219
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
[1.169s] [ext: omni.kit.pipapi-0.0.0] startup
[1.170s] [ext: omni.kit.pip_archive-0.0.0] startup
[1.171s] [ext: omni.pip.compute-1.2.0] startup
[1.171s] [ext: omni.pip.torch-2_0_1-2.0.2] startup
[1.210s] [ext: omni.pip.cloud-1.0.1] startup
[1.211s] [ext: omni.isaac.core_archive-2.2.1] startup
[1.212s] [ext: omni.kit.loop-isaac-1.0.2] startup
[1.212s] [ext: omni.kit.test-0.0.0] startup
[1.213s] [ext: omni.kit.telemetry-0.4.0] startup
[1.231s] [ext: omni.isaac.ml_archive-1.1.3] startup
[1.231s] [ext: omni.mtlx-0.1.0] startup
[1.232s] [ext: omni.usd.config-1.0.3] startup
[1.238s] [ext: omni.gpucompute.plugins-0.0.0] startup
[1.238s] [ext: omni.usd.libs-1.0.0] startup
[1.406s] [ext: omni.appwindow-1.1.5] startup
[1.812s] [ext: omni.kit.renderer.core-0.0.0] startup
[3.043s] [ext: omni.kit.renderer.capture-0.0.0] startup
[3.045s] [ext: omni.kit.renderer.imgui-0.0.0] startup
[3.122s] [ext: carb.audio-0.1.0] startup
[3.145s] [ext: omni.ui-2.17.3] startup
[3.168s] [ext: omni.uiaudio-1.0.0] startup
[3.170s] [ext: omni.kit.mainwindow-1.0.0] startup
[3.171s] [ext: omni.kit.uiapp-0.0.0] startup
[3.171s] [ext: omni.usd.schema.anim-0.0.0] startup
[3.368s] [ext: omni.usd.schema.physics-0.0.0] startup
[3.391s] [ext: omni.usd.schema.semantics-0.0.0] startup
[3.394s] [ext: omni.usd.schema.isaac-2.0.1] startup
[3.403s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[3.408s] [ext: omni.usd.schema.physx-0.0.0] startup
[3.443s] [ext: omni.usd.schema.audio-0.0.0] startup
[3.447s] [ext: omni.usd.schema.forcefield-0.0.0] startup
[3.454s] [ext: omni.usd.schema.scene.visualization-2.0.2] startup
[3.455s] [ext: omni.usd.schema.geospatial-0.0.0] startup
[3.458s] [ext: omni.anim.navigation.schema-105.1.0] startup
[3.462s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[3.469s] [ext: omni.kit.window.popup_dialog-2.0.22] startup
[3.474s] [ext: omni.usd_resolver-1.0.0] startup
[3.479s] [ext: omni.kit.widget.nucleus_connector-1.1.1] startup
[3.481s] [ext: omni.graph.exec-0.2.7] startup
[3.482s] [ext: omni.resourcemonitor-105.0.0] startup
[3.484s] [ext: omni.usd.core-1.1.6] startup
[3.488s] [ext: omni.kit.actions.core-1.0.0] startup
[3.490s] [ext: omni.timeline-1.0.9] startup
[3.492s] [ext: omni.kit.exec.core-0.4.1] startup
[3.494s] [ext: omni.ui.scene-1.6.14] startup
[3.500s] [ext: omni.hydra.usdrt_delegate-7.2.23] startup
[3.516s] [ext: omni.kit.commands-1.4.6] startup
[3.519s] [ext: omni.kit.audiodeviceenum-1.0.1] startup
[3.521s] [ext: omni.hydra.scene_delegate-0.3.2] startup
[3.529s] [ext: omni.kit.widget.versioning-1.4.4] startup
[3.531s] [ext: omni.usd-1.10.15] startup
[3.592s] [ext: omni.kit.menu.utils-1.5.4] startup
[3.602s] [ext: omni.kit.helper.file_utils-0.1.6] startup
[3.624s] [ext: omni.kit.widget.nucleus_info-1.0.1] startup
[3.625s] [ext: omni.kit.widget.filebrowser-2.3.34] startup
[3.630s] [ext: omni.kit.search_core-1.0.4] startup
[3.630s] [ext: omni.kit.widget.path_field-2.0.7] startup
[3.631s] [ext: omni.kit.notification_manager-1.0.6] startup
[3.633s] [ext: omni.kit.widget.search_delegate-1.0.3] startup
[3.634s] [ext: omni.kit.widget.browser_bar-2.0.8] startup
[3.634s] [ext: omni.kit.clipboard-1.0.3] startup
[3.635s] [ext: omni.kit.usd.layers-2.1.19] startup
[3.646s] [ext: omni.kit.window.filepicker-2.10.3] startup
[3.657s] [ext: omni.kit.menu.create-1.0.11] startup
[3.659s] [ext: omni.kit.window.file_importer-1.0.21] startup
[3.662s] [ext: omni.kit.widget.highlight_label-1.0.1] startup
[3.663s] [ext: omni.kit.primitive.mesh-1.0.14] startup
[3.666s] [ext: omni.kit.widget.options_menu-1.0.5] startup
[3.667s] [ext: omni.kit.hotkeys.core-1.3.0] startup
[3.671s] [ext: omni.kit.window.file_exporter-1.0.22] startup
[3.672s] [ext: omni.kit.stage_templates-1.1.20] startup
[3.674s] [ext: omni.kit.widget.filter-1.1.2] startup
[3.675s] [ext: omni.kit.context_menu-1.6.6] startup
[3.676s] [ext: omni.kit.window.file-1.3.41] startup
[3.679s] [ext: omni.kit.widget.stage-2.9.2] startup
[3.690s] [ext: omni.kit.collaboration.presence_layer-1.0.7] startup
[3.692s] [ext: omni.kit.widget.searchfield-1.1.2] startup
[3.694s] [ext: omni.kit.window.drop_support-1.0.1] startup
[3.695s] [ext: omni.kit.window.content_browser_registry-0.0.1] startup
[3.695s] [ext: omni.kit.widget.prompt-1.0.5] startup
[3.696s] [ext: omni.kit.window.property-1.9.6] startup
[3.699s] [ext: omni.kit.window.content_browser-2.7.14] startup
[3.710s] [ext: omni.kit.widget.live_session_management-1.2.16] startup
[3.714s] [ext: omni.kit.property.usd-3.21.12] startup
[3.723s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[3.725s] [ext: omni.kit.widget.searchable_combobox-1.0.5] startup
[3.726s] [ext: omni.ui_query-1.1.1] startup
[3.726s] [ext: omni.kit.widget.settings-1.0.4] startup
[3.727s] [ext: omni.kit.ui_test-1.2.13] startup
[3.729s] [ext: omni.kit.window.preferences-1.3.21] startup
[3.733s] [ext: omni.kvdb-0.0.0] startup
[3.735s] [ext: omni.convexdecomposition-105.1.9-5.1] startup
[3.740s] [ext: omni.inspect-1.0.1] startup
[3.742s] [ext: omni.localcache-0.0.0] startup
[3.744s] [ext: omni.physx.foundation-105.1.9-5.1] startup
[3.744s] [ext: omni.usdphysics-105.1.9-5.1] startup
[3.748s] [ext: omni.graph.tools-1.41.3] startup
[3.766s] [ext: omni.graph.core-2.139.8] startup
[3.770s] [ext: omni.iray.libs-0.0.0] startup
[3.774s] [ext: usdrt.scenegraph-7.2.23] startup
[3.823s] [ext: omni.physx.cooking-105.1.9-5.1] startup
[3.832s] [ext: omni.volume-0.3.0] startup
[3.840s] [ext: omni.mdl.neuraylib-0.2.0] startup
[3.841s] [ext: omni.physx-105.1.9-5.1] startup
2023-10-20 21:33:40 [3,844ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
[3.856s] [ext: omni.kit.numpy.common-0.1.2] startup
[3.857s] [ext: omni.hydra.rtx-0.1.0] startup
[3.869s] [ext: omni.hydra.pxr-1.1.4] startup
[3.875s] [ext: omni.isaac.dynamic_control-1.2.5] startup
[3.884s] [ext: omni.kit.hydra_texture-1.1.10] startup
[3.890s] [ext: omni.mdl-0.1.2] startup
[3.909s] [ext: omni.kit.viewport.legacy_gizmos-1.0.14] startup
[3.914s] [ext: omni.kit.viewport.registry-104.0.4] startup
[3.915s] [ext: omni.kit.widget.viewport-105.1.4] startup
[3.919s] [ext: omni.kit.material.library-1.3.39] startup
[3.926s] [ext: omni.hydra.engine.stats-1.0.1] startup
[3.931s] [ext: omni.kit.manipulator.viewport-104.0.8] startup
[3.932s] [ext: omni.kit.viewport.window-105.1.9] startup
[3.953s] [ext: omni.physics.tensors-0.1.0] startup
[3.960s] [ext: omni.kit.widget.graph-1.8.4] startup
[3.966s] [ext: omni.kit.usd_undo-0.1.2] startup
[3.966s] [ext: omni.kit.viewport.utility-1.0.16] startup
[3.967s] [ext: omni.physx.tensors-0.1.0] startup
[3.974s] [ext: omni.kit.window.extensions-1.3.0] startup
[3.980s] [ext: omni.graph-1.106.0] startup
[4.027s] [ext: omni.debugdraw-0.1.2] startup
[4.033s] [ext: omni.warp.core-0.10.1] startup
Warp 0.10.1 initialized:
CUDA Toolkit: 11.5, Driver: 11.8
Devices:
"cpu" | x86_64
"cuda:0" | NVIDIA GeForce RTX 2080 Ti (sm_75)
Kernel cache: /home/mocap/.cache/warp/0.10.1
[4.176s] [ext: omni.isaac.version-1.0.3] startup
[4.178s] [ext: omni.graph.ui-1.48.0] startup
[4.200s] [ext: omni.isaac.core-2.10.2] startup
[5.622s] [ext: omni.graph.visualization.nodes-2.1.1] startup
[5.641s] [ext: omni.graph.action-1.55.0] startup
2023-10-20 21:33:42 [5,634ms] [Warning] [carb] [Plugin: libomni.graph.action.plugin.so] Module /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph.action/bin/libomni.graph.action.plugin.so remained loaded after unload request
[5.687s] [ext: omni.isaac.ui-0.13.2] startup
[5.698s] [ext: omni.isaac.cloner-0.7.0] startup
[5.700s] [ext: omni.isaac.utils-0.5.3] startup
[5.717s] [ext: omni.isaac.gym-0.8.5] startup
[5.720s] [ext: omni.isaac.debug_draw-0.6.0] startup
2023-10-20 21:33:42 [5,718ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2023-10-20 21:33:42 [5,718ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
[5.735s] [ext: omni.importer.mjcf-1.1.0] startup
[5.747s] [ext: omni.isaac.mjcf-1.0.0] startup
2023-10-20 21:33:42 [5,736ms] [Warning] [omni.isaac.mjcf] The extension omni.isaac.mjcf has been deprecated. Please use omni.importer.mjcf instead.
[5.748s] [ext: omni.isaac.occupancy_map-0.3.1] startup
[5.778s] [ext: omni.importer.urdf-1.1.3] startup
[5.829s] [ext: omni.kit.widget.zoombar-1.0.4] startup
[5.831s] [ext: omni.kit.graph.delegate.default-1.1.1] startup
[5.833s] [ext: omni.kit.graph.usd.commands-1.3.0] startup
[5.834s] [ext: omni.kit.browser.core-2.3.9] startup
[5.840s] [ext: omni.kit.widget.spinner-1.0.5] startup
[5.842s] [ext: omni.kit.window.cursor-1.1.1] startup
[5.843s] [ext: omni.kit.graph.editor.core-1.5.1] startup
[5.846s] [ext: omni.graph.image.core-0.1.0] startup
[5.848s] [ext: omni.kit.browser.folder.core-1.9.7] startup
[5.853s] [ext: omni.graph.nodes-1.106.3] startup
[6.057s] [ext: omni.kit.viewport.menubar.core-105.0.17] startup
[6.089s] [ext: omni.kit.graph.widget.variables-2.0.4] startup
[6.095s] [ext: omni.kit.graph.delegate.modern-1.9.0] startup
[6.102s] [ext: omni.kit.browser.sample-1.4.6] startup
[6.110s] [ext: omni.kit.widget.material_preview-1.0.7] startup
[6.116s] [ext: omni.syntheticdata-0.4.10] startup
[6.155s] [ext: omni.graph.window.core-1.84.0] startup
[6.173s] [ext: omni.warp-0.10.1] startup
[6.657s] [ext: omni.kit.window.material_graph-1.8.9] startup
[6.678s] [ext: omni.graph.scriptnode-1.1.6] startup
[6.687s] [ext: omni.command.usd-1.0.2] startup
[6.689s] [ext: omni.graph.window.action-1.11.2] startup
[6.697s] [ext: omni.replicator.core-1.10.10] startup
2023-10-20 21:33:43 [6,783ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
[6.967s] [ext: omni.activity.pump-1.0.0] startup
[6.969s] [ext: omni.isaac.core_nodes-1.6.1] startup
[7.005s] [ext: omni.kit.actions.window-1.1.0] startup
[7.009s] [ext: omni.kit.viewport.ready-1.0.5] startup
[7.011s] [ext: omni.isaac.wheeled_robots-0.7.2] startup
[7.035s] [ext: omni.kit.selection-0.1.2] startup
[7.038s] [ext: omni.kit.hotkeys.window-1.4.0] startup
[7.044s] [ext: omni.isaac.kit-1.4.5] startup
[7.045s] [ext: omni.kit.widget.stage_icons-1.0.3] startup
[7.046s] [ext: omni.kit.menu.edit-1.1.13] startup
[7.050s] [ext: omni.kit.widget.layers-1.6.28] startup
[7.063s] [ext: omni.kit.menu.file-1.1.7] startup
[7.066s] [ext: omni.kit.window.stage-2.4.0] startup
[7.071s] [ext: omni.sensors.nv.common-0.0.2-isaacsim.3] startup
[7.081s] [ext: omni.kit.property.layer-1.1.4] startup
[7.085s] [ext: omni.sensors.nv.materials-0.1.1-isaacsim.3] startup
[7.087s] [ext: omni.kit.menu.stage-1.2.3] startup
[7.089s] [ext: omni.sensors.nv.wpm-0.1.2-isaacsim.3] startup
[7.090s] [ext: omni.kit.property.audio-1.0.9] startup
[7.096s] [ext: omni.sensors.nv.lidar-0.1.4-isaacsim.3] startup
[7.103s] [ext: omni.isaac.range_sensor-2.0.0] startup
[7.163s] [ext: omni.isaac.lula-2.1.0] startup
2023-10-20 21:33:44 [7,160ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module omni.isaac.lula. Error: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs. Traceback:
Traceback (most recent call last):
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/omni/isaac/lula/__init__.py", line 10, in <module>
from .extension import *
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/omni/isaac/lula/extension.py", line 24, in <module>
from lula import LogLevel, set_default_logger_prefix, set_log_level
ImportError: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs
2023-10-20 21:33:44 [7,160ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.lula' in '/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula' failed to load.
At:
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/home/mocap/Documents/DiffOptIsaac/impedance_control_new.py(5): <module>
2023-10-20 21:33:44 [7,160ms] [Error] [omni.ext.plugin] [ext: omni.isaac.lula-2.1.0] Failed to startup python extension.
[7.706s] [ext: omni.sensors.nv.radar-0.1.1-isaacsim.3] startup
[7.712s] [ext: omni.isaac.surface_gripper-0.5.0] startup
[7.728s] [ext: omni.kit.property.geometry-1.2.10] startup
[7.733s] [ext: omni.kit.property.camera-1.0.5] startup
[7.736s] [ext: omni.isaac.sensor-9.9.1] startup
[7.825s] [ext: omni.isaac.motion_generation-5.1.1] startup
2023-10-20 21:33:44 [7,824ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module omni.isaac.motion_generation. Error: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs. Traceback:
Traceback (most recent call last):
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
from omni.isaac.motion_generation.lula.kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 9, in <module>
from .kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/kinematics.py", line 12, in <module>
import lula
ImportError: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs
2023-10-20 21:33:44 [7,824ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.motion_generation' in '/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation' failed to load.
At:
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/home/mocap/Documents/DiffOptIsaac/impedance_control_new.py(5): <module>
2023-10-20 21:33:44 [7,824ms] [Error] [omni.ext.plugin] [ext: omni.isaac.motion_generation-5.1.1] Failed to startup python extension.
[8.111s] [ext: omni.isaac.manipulators-1.1.0] startup
[8.118s] [ext: omni.hydra.scene_api-0.1.2] startup
[8.129s] [ext: omni.kit.property.material-1.8.30] startup
[8.134s] [ext: omni.kit.property.light-1.0.8] startup
[8.137s] [ext: omni.isaac.franka-0.4.0] startup
2023-10-20 21:33:45 [8,135ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module omni.isaac.franka. Error: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs. Traceback:
Traceback (most recent call last):
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.franka/omni/isaac/franka/__init__.py", line 10, in <module>
from omni.isaac.franka.kinematics_solver import KinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.franka/omni/isaac/franka/kinematics_solver.py", line 11, in <module>
import omni.isaac.motion_generation.interface_config_loader as interface_config_loader
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
from omni.isaac.motion_generation.lula.kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 9, in <module>
from .kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/kinematics.py", line 12, in <module>
import lula
ImportError: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs
2023-10-20 21:33:45 [8,135ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.franka' in '/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.franka' failed to load.
At:
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/home/mocap/Documents/DiffOptIsaac/impedance_control_new.py(5): <module>
2023-10-20 21:33:45 [8,135ms] [Error] [omni.ext.plugin] [ext: omni.isaac.franka-0.4.0] Failed to startup python extension.
2023-10-20 21:33:45 [8,415ms] [Error] [omni.ext.python] ImportError: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs
At:
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/kinematics.py(12): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py(9): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap>(992): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py(14): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap>(992): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.franka/omni/isaac/franka/kinematics_solver.py(11): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.franka/omni/isaac/franka/__init__.py(10): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(1050): _gcd_import
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/python/lib/python3.10/importlib/__init__.py(126): import_module
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/_registration/extension_management.py(154): extension_management_factory
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py(70): register_python_ogn
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/carb/profiler/__init__.py(85): wrapper
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/registration.py(34): __init__
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/extension.py(120): on_after_ext_enabled
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/home/mocap/Documents/DiffOptIsaac/impedance_control_new.py(5): <module>
[8.427s] [ext: omni.kit.property.skel-1.0.4] startup
[8.431s] [ext: omni.kit.property.transform-1.3.10] startup
[8.436s] [ext: omni.kit.property.render-1.1.1] startup
[8.438s] [ext: omni.kit.profiler.window-2.1.2] startup
2023-10-20 21:33:45 [8,535ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[8.553s] [ext: omni.kit.property.isaac-0.2.1] startup
[8.557s] [ext: omni.kit.property.bundle-1.2.9] startup
[8.560s] [ext: omni.isaac.quadruped-1.3.2] startup
[8.576s] [ext: omni.isaac.cortex-0.3.5] startup
[8.580s] [ext: omni.kit.viewport.actions-105.0.10] startup
[8.585s] [ext: omni.kit.stage_column.payload-1.0.10] startup
[8.588s] [ext: omni.kit.stage_column.variant-1.0.12] startup
[8.591s] [ext: omni.isaac.scene_blox-0.1.0] startup
[8.594s] [ext: omni.isaac.cortex.sample_behaviors-1.0.4] startup
[8.598s] [ext: omni.kit.viewport.menubar.display-105.0.2] startup
[8.601s] [ext: omni.kit.widget.toolbar-1.5.6] startup
[8.610s] [ext: omni.kit.manipulator.transform-104.6.14] startup
[8.613s] [ext: omni.usdphysics.ui-105.1.9-5.1] startup
[8.653s] [ext: omni.physx.commands-105.1.9-5.1] startup
[8.657s] [ext: omni.kit.manipulator.tool.snap-1.3.1] startup
[8.666s] [ext: omni.kit.viewport.menubar.camera-105.1.6] startup
[8.673s] [ext: omni.kit.manipulator.selector-1.0.1] startup
[8.675s] [ext: omni.physx.ui-105.1.9-5.1] startup
[8.712s] [ext: usdrt.gf-1.0.2] startup
[8.712s] [ext: omni.kit.viewport.menubar.render-105.1.0] startup
[8.715s] [ext: omni.kit.viewport.menubar.settings-105.0.9] startup
[8.721s] [ext: omni.kit.manipulator.selection-104.0.7] startup
[8.723s] [ext: omni.kit.manipulator.prim-105.0.9] startup
[8.731s] [ext: omni.kit.manipulator.camera-105.0.4] startup
[8.735s] [ext: omni.physx.demos-105.1.9-5.1] startup
[8.740s] [ext: omni.kit.property.physx-0.1.0] startup
[8.843s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[8.844s] [ext: omni.isaac.universal_robots-0.3.2] startup
2023-10-20 21:33:45 [8,847ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module omni.isaac.universal_robots. Error: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs. Traceback:
Traceback (most recent call last):
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/__init__.py", line 9, in <module>
from omni.isaac.universal_robots.kinematics_solver import KinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/kinematics_solver.py", line 15, in <module>
from omni.isaac.motion_generation.lula.kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
from omni.isaac.motion_generation.lula.kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 9, in <module>
from .kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/kinematics.py", line 12, in <module>
import lula
ImportError: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs
2023-10-20 21:33:45 [8,847ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.universal_robots' in '/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.universal_robots' failed to load.
At:
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/home/mocap/Documents/DiffOptIsaac/impedance_control_new.py(5): <module>
2023-10-20 21:33:45 [8,847ms] [Error] [omni.ext.plugin] [ext: omni.isaac.universal_robots-0.3.2] Failed to startup python extension.
2023-10-20 21:33:46 [9,160ms] [Error] [omni.ext.python] ImportError: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs
At:
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/kinematics.py(12): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py(9): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap>(992): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py(14): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap>(992): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap>(992): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/kinematics_solver.py(15): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/__init__.py(9): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(1050): _gcd_import
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/python/lib/python3.10/importlib/__init__.py(126): import_module
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/_registration/extension_management.py(154): extension_management_factory
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py(70): register_python_ogn
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/carb/profiler/__init__.py(85): wrapper
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/registration.py(34): __init__
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/extension.py(120): on_after_ext_enabled
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/home/mocap/Documents/DiffOptIsaac/impedance_control_new.py(5): <module>
[9.172s] [ext: omni.physx.camera-105.1.9-5.1] startup
[9.183s] [ext: omni.kit.window.toolbar-1.5.3] startup
[9.187s] [ext: omni.physx.cct-105.1.9-5.1] startup
[9.207s] [ext: omni.rtx.window.settings-0.6.9] startup
[9.215s] [ext: omni.physx.graph-105.1.9-5.1] startup
[9.231s] [ext: omni.kit.widget.live-2.1.3] startup
[9.234s] [ext: omni.physx.supportui-105.1.9-5.1] startup
[9.254s] [ext: omni.physx.vehicle-105.1.9-5.1] startup
[9.272s] [ext: omni.kit.viewport.rtx-104.0.0] startup
[9.272s] [ext: omni.graph.ui_nodes-1.5.10] startup
[9.314s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
[9.318s] [ext: omni.kit.window.commands-0.2.4] startup
[9.321s] [ext: omni.kit.window.console-0.2.9] startup
[9.335s] [ext: omni.physx.bundle-105.1.9-5.1] startup
[9.335s] [ext: omni.kit.window.script_editor-1.7.4] startup
[9.339s] [ext: omni.graph.bundle.action-2.0.4] startup
[9.339s] [ext: omni.kit.menu.common-1.1.4] startup
[9.342s] [ext: omni.kit.window.status_bar-0.1.6] startup
[9.348s] [ext: omni.kit.window.title-1.1.3] startup
[9.350s] [ext: omni.replicator.composer-1.2.17] startup
[9.376s] [ext: omni.hydra.pxr.settings-1.0.5] startup
[9.379s] [ext: omni.replicator.isaac-1.10.1] startup
[9.414s] [ext: omni.replicator.replicator_yaml-2.0.4] startup
[9.428s] [ext: omni.rtx.settings.core-0.5.11] startup
[9.435s] [ext: omni.kit.viewport.menubar.lighting-105.0.5] startup
[9.439s] [ext: semantics.schema.editor-0.3.4] startup
[9.443s] [ext: omni.kit.viewport.pxr-104.0.1] startup
[9.443s] [ext: omni.isaac.urdf-1.0.0] startup
2023-10-20 21:33:46 [9,431ms] [Warning] [omni.isaac.urdf] The extension omni.isaac.urdf has been deprecated. Please use omni.importer.urdf instead.
[9.443s] [ext: omni.isaac.dofbot-0.3.0] startup
2023-10-20 21:33:46 [9,441ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module omni.isaac.dofbot. Error: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs. Traceback:
Traceback (most recent call last):
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
return importlib.import_module(name)
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.dofbot/omni/isaac/dofbot/__init__.py", line 10, in <module>
from omni.isaac.dofbot.kinematics_solver import KinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.dofbot/omni/isaac/dofbot/kinematics_solver.py", line 11, in <module>
import omni.isaac.motion_generation.interface_config_loader as interface_config_loader
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py", line 14, in <module>
from omni.isaac.motion_generation.lula.kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py", line 9, in <module>
from .kinematics import LulaKinematicsSolver
File "/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/kinematics.py", line 12, in <module>
import lula
ImportError: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs
2023-10-20 21:33:46 [9,441ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'omni.isaac.dofbot' in '/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.dofbot' failed to load.
At:
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/home/mocap/Documents/DiffOptIsaac/impedance_control_new.py(5): <module>
2023-10-20 21:33:46 [9,441ms] [Error] [omni.ext.plugin] [ext: omni.isaac.dofbot-0.3.0] Failed to startup python extension.
2023-10-20 21:33:46 [9,773ms] [Error] [omni.ext.python] ImportError: /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.lula/pip_prebundle/_lula_libs/liblula_kinematics.so: undefined symbol: _ZN4urdf9parseURDFERKSs
At:
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/kinematics.py(12): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/__init__.py(9): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap>(992): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/__init__.py(14): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap>(992): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.dofbot/omni/isaac/dofbot/kinematics_solver.py(11): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.dofbot/omni/isaac/dofbot/__init__.py(10): <module>
<frozen importlib._bootstrap>(241): _call_with_frames_removed
<frozen importlib._bootstrap_external>(883): exec_module
<frozen importlib._bootstrap>(703): _load_unlocked
<frozen importlib._bootstrap>(1006): _find_and_load_unlocked
<frozen importlib._bootstrap>(1027): _find_and_load
<frozen importlib._bootstrap>(1050): _gcd_import
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/python/lib/python3.10/importlib/__init__.py(126): import_module
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/_registration/extension_management.py(154): extension_management_factory
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/_registration/register_python_ogn.py(70): register_python_ogn
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/kernel/py/carb/profiler/__init__.py(85): wrapper
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/registration.py(34): __init__
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph/omni/graph/core/_impl/extension.py(120): on_after_ext_enabled
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(303): _start_app
/home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(192): __init__
/home/mocap/Documents/DiffOptIsaac/impedance_control_new.py(5): <module>
[9.785s] [ext: omni.graph.window.generic-1.9.3] startup
[9.794s] [ext: omni.kit.window.stats-0.1.4] startup
[9.796s] [ext: omni.isaac.sim.python-2023.1.0] startup
[9.798s] Simulation App Starting
2023-10-20 21:33:49 [12,519ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-10-20 21:33:49 [12,520ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[12.609s] app ready
2023-10-20 21:33:50 [13,311ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-10-20 21:33:50 [13,311ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
[13.556s] RTX ready
[14.010s] Simulation App Startup Complete
2023-10-20 21:33:53 [16,374ms] [Warning] [omni.physx.plugin] The rigid body at /World/Fancy_Franka/fr3_hand_tcp has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. 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.
2023-10-20 21:33:53 [16,374ms] [Warning] [omni.physx.plugin] The rigid body at /World/Fancy_Franka/fr3_link8 has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. 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.
2023-10-20 21:33:53 [16,374ms] [Warning] [omni.physx.plugin] Detected an articulation at /World/Fancy_Franka with more than 4 velocity iterations being added to a TGS scene.The related behavior changed recently, please consult the changelog. This warning will only print once.
[29.567s] Simulation App Shutting Down
2023-10-20 21:34:06 [29,568ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2023-10-20 21:34:06 [29,597ms] [Warning] [omni.core.ITypeFactory] Module /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.graph.action/bin/libomni.graph.action.plugin.so remained loaded after unload request.
2023-10-20 21:34:06 [29,598ms] [Warning] [omni.core.ITypeFactory] Module /home/mocap/.local/share/ov/pkg/isaac_sim-2023.1.0/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
If someone can help me understand what might be the issue that would be greatly appreciated.
Thanks in advance!