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Isaac Sim Version
4.5.0
Operating System
Windows 11
GPU Information
- Model: RTX 4090
- Driver Version: 576.02
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)
I tried to use VR device to do the simulation related to robotics manipulation, I expected the VR controller position in the environment can be read via provided function in isaaclab.
Steps to Reproduce
- I tried to acess the quest2 controller location in the test environment after streaming
- I initialized the left and right controller by using
left_hand_prim = XFormPrim(prim_paths_expr =“/_xr/inputdevices/user/hand/left”, name=“left_hand”)
right_hand_prim = XFormPrim(prim_paths_expr =“/_xr/inputdevices/user/hand/right”, name=“right_hand”)
left_hand_prim.initialize()
right_hand_prim.initialize()
(Add more steps as needed)
Error Messages
(If applicable, copy and paste any error messages you received)
[XR] Controller prims found, binding…
c:/users/xxx/anaconda3/envs/isaaclab/lib/site-packages/isaacsim/extscache/omni.kit.pip_archive-0.0.0+d02c707b.wx64.cp310/pip_prebundle/numpy/linalg/linalg.py:2180: RuntimeWarning: invalid value encountered in det
r = _umath_linalg.det(a, signature=signature)
Traceback (most recent call last):
File “c:\Users\xxx\Desktop\Project_isaac\src\test.py”, line 573, in
run_simulator(sim, scene)
File “c:\Users\xxx\Desktop\Project_isaac\src\test.py”, line 441, in run_simulator
left_hand_prim = XFormPrim(prim_paths_expr =“/_xr/inputdevices/user/hand/left”, name=“left_hand”)
File “c:/users/xxx/anaconda3/envs/isaaclab/lib/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/xform_prim.py”, line 147, in init
self._set_xform_properties()
File “c:/users/xxx/anaconda3/envs/isaaclab/lib/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/xform_prim.py”, line 1205, in _set_xform_properties
current_positions, current_orientations = self.get_world_poses()
File “c:/users/xxx/anaconda3/envs/isaaclab/lib/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/xform_prim.py”, line 705, in get_world_poses
positions[write_idx], orientations[write_idx] = get_world_pose(self._prim_paths[i])
File “c:/users/xxx/anaconda3/envs/isaaclab/lib/site-packages/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/xforms.py”, line 173, in get_world_pose
r = Rotation.from_matrix(result_transform[:3, :3])
File “_rotation.pyx”, line 1144, in scipy.spatial.transform._rotation.Rotation.from_matrix
File “c:/users/xxx/anaconda3/envs/isaaclab/lib/site-packages/isaacsim/extscache/omni.kit.pip_archive-0.0.0+d02c707b.wx64.cp310/pip_prebundle/numpy/linalg/linalg.py”, line 1681, in svd
u, s, vh = gufunc(a, signature=signature, extobj=extobj)
File “c:/users/xxx/anaconda3/envs/isaaclab/lib/site-packages/isaacsim/extscache/omni.kit.pip_archive-0.0.0+d02c707b.wx64.cp310/pip_prebundle/numpy/linalg/linalg.py”, line 121, in _raise_linalgerror_svd_nonconvergence
raise LinAlgError(“SVD did not converge”)
numpy.linalg.LinAlgError: SVD did not converge
Screenshots or Videos
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Additional Information
What I’ve Tried
(Describe any troubleshooting steps you’ve already taken)
Related Issues
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Additional Context
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