I am following the instructions for curobo here Installation - cuRobo
In the section Install for use in Isaac Sim, I am running the 7th step which is omni_python examples/isaac_sim/motion_gen_reacher.py with --robot ur5e.yml since I am using isaac_sim-2023.1.1.
I receive such messages on the console
2024-04-29 06:54:55 [10,202ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2024-04-29 06:54:55 [10,202ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2024-04-29 06:54:55 [10,203ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2024-04-29 06:54:55 [10,203ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2024-04-29 06:54:55 [10,203ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2024-04-29 06:54:55 [10,203ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2024-04-29 06:54:56 [11,553ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-04-29 06:54:56 [11,553ms] [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
[12.932s] app ready
2024-04-29 06:54:58 [13,574ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-04-29 06:54:58 [13,574ms] [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
[13.860s] RTX ready
[14.282s] Simulation App Startup Complete
2024-04-29 06:55:01 [16,403ms] [Warning] [omni.importer.urdf] The path base_link-base_link_inertia is not a valid usd path, modifying to base_link_base_link_inertia
2024-04-29 06:55:01 [16,403ms] [Warning] [omni.importer.urdf] The path base_link-base_fixed_joint is not a valid usd path, modifying to base_link_base_fixed_joint
2024-04-29 06:55:01 [16,403ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2024-04-29 06:55:01 [16,403ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2024-04-29 06:55:01 [16,403ms] [Warning] [omni.importer.urdf] The path base_link-base_link_inertia is not a valid usd path, modifying to base_link_base_link_inertia
2024-04-29 06:55:01 [16,403ms] [Warning] [omni.importer.urdf] The path base_link-base_fixed_joint is not a valid usd path, modifying to base_link_base_fixed_joint
2024-04-29 06:55:01 [16,403ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2024-04-29 06:55:01 [16,403ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2024-04-29 06:55:01 [16,410ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-04-29 06:55:01 [16,416ms] [Warning] [omni.importer.urdf] Link base has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-04-29 06:55:01 [16,422ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,422ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/base_link_inertia/visuals not created
2024-04-29 06:55:01 [16,423ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,423ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/base_link_inertia/collisions not created
2024-04-29 06:55:01 [16,428ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,429ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/shoulder_link/visuals not created
2024-04-29 06:55:01 [16,429ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,429ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/shoulder_link/collisions not created
2024-04-29 06:55:01 [16,445ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,445ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/upper_arm_link/visuals not created
2024-04-29 06:55:01 [16,445ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,445ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/upper_arm_link/collisions not created
2024-04-29 06:55:01 [16,453ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,453ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/forearm_link/visuals not created
2024-04-29 06:55:01 [16,453ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,453ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/forearm_link/collisions not created
2024-04-29 06:55:01 [16,460ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,460ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/wrist_1_link/visuals not created
2024-04-29 06:55:01 [16,460ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,460ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/wrist_1_link/collisions not created
2024-04-29 06:55:01 [16,466ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,466ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/wrist_2_link/visuals not created
2024-04-29 06:55:01 [16,466ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,466ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/wrist_2_link/collisions not created
2024-04-29 06:55:01 [16,473ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,473ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/wrist_3_link/visuals not created
2024-04-29 06:55:01 [16,473ms] [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken.
2024-04-29 06:55:01 [16,473ms] [Warning] [omni.importer.urdf] Prim /World/ur5e_robot/wrist_3_link/collisions not created
2024-04-29 06:55:01 [16,479ms] [Warning] [omni.importer.urdf] Link flange has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-04-29 06:55:01 [16,483ms] [Warning] [omni.importer.urdf] Link tool0 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
warming up...
Curobo is Ready
[29.375s] [ext: omni.kit.asset_converter-2.0.18] startup
[29.405s] [ext: omni.kit.tool.asset_importer-2.4.28] startup
[29.477s] [ext: omni.isaac.asset_browser-0.4.3] startup
2024-04-29 06:55:34 [49,708ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
File "/code/curobo/examples/isaac_sim/motion_gen_reacher.py", line 437, in <module>
File "/code/curobo/examples/isaac_sim/motion_gen_reacher.py", line 248, in main
File "/home/sachin/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 225, in add_default_ground_plane
File "/home/sachin/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 572, in get_assets_root_path
File "/home/sachin/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py", line 192, in check_server
File "/home/sachin/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/extscore/omni.client/omni/client/__init__.py", line 158, in stat
2024-04-29 06:57:27 [162,586ms] [Warning] [omni.hydra] Mesh '/World/obstacles/table_mesh' has corrupted data in primvar 'displayColor': buffer size 8 doesn't match expected size 36 in faceVarying primvars
and the loaded scene has a cube but no robot.
Any ideas?
I tried isaac 2022.2.1 but still got similar errors
[303.607s] Simulation App Startup Complete
2024-04-30 07:13:34 [310,782ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,782ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link0/visuals not created
2024-04-30 07:13:34 [310,802ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,802ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link1/visuals not created
2024-04-30 07:13:34 [310,816ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,816ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link2/visuals not created
2024-04-30 07:13:34 [310,829ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,829ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link3/visuals not created
2024-04-30 07:13:34 [310,842ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,842ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link4/visuals not created
2024-04-30 07:13:34 [310,855ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,855ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link5/visuals not created
2024-04-30 07:13:34 [310,868ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,868ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link6/visuals not created
2024-04-30 07:13:34 [310,881ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,881ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_link7/visuals not created
2024-04-30 07:13:34 [310,898ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,898ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_hand/visuals not created
2024-04-30 07:13:34 [310,912ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,912ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_leftfinger/visuals not created
2024-04-30 07:13:34 [310,925ms] [Warning] [omni.isaac.urdf] Asset convert failed as asset file is broken.
2024-04-30 07:13:34 [310,925ms] [Warning] [omni.isaac.urdf] Prim /World/panda/panda_rightfinger/visuals not created
warming up...
Curobo is Ready
[333.794s] [ext: omni.kit.asset_converter-1.3.4] startup
[333.883s] [ext: omni.kit.tool.asset_importer-2.4.0] startup
[333.963s] [ext: omni.isaac.asset_browser-0.2.4] startup
2024-04-30 07:13:57 [333,996ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link5/collisions
2024-04-30 07:13:57 [333,996ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link4/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_leftfinger/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link6/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link3/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_rightfinger/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link7/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link2/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link1/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_hand/collisions
2024-04-30 07:13:57 [333,997ms] [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link0/collisions
2024-04-30 07:13:57 [334,098ms] [Warning] [omni.client.plugin] Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Auth/Tokens search: Not connected
2024-04-30 07:13:57 [334,098ms] [Warning] [omni.client.plugin] Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Api/Connection search: Not connected
2024-04-30 07:13:58 [334,946ms] [Warning] [omni.hydra] Mesh '/World/obstacles/table_mesh' has corrupted data in primvar 'displayColor': buffer size 8 doesn't match expected size 36 in faceVarying primvars
**** Click Play to start simulation *****