Hello,
To load the robot with discs, I called the URDF Importer via Python REPL to generate the discs. The first time generally works, but I get random segmentation faults after the second time.
How can I fix this problem?
This is part of log.
[launcher-1] 2024-02-22 22:37:03 [27,684ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setMassSpaceInertiaTensor(): components must be > 0 for articulations, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 454
[launcher-1] 2024-02-22 22:37:03 [27,684ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setMassSpaceInertiaTensor(): components must be > 0 for articulations, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 454
[launcher-1] 2024-02-22 22:37:03 [27,684ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setMassSpaceInertiaTensor(): components must be > 0 for articulations, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 454
[launcher-1] 2024-02-22 22:37:03 [27,685ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setMassSpaceInertiaTensor(): components must be > 0 for articulations, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 454
[launcher-1] Exception ignored in: <async_generator object generator_to_async_generator at 0x7f4000fbdbc0>
[launcher-1] Traceback (most recent call last):
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/completion/base.py", line 230, in get_completions_async
[launcher-1] yield completion
[launcher-1] RuntimeError: async generator ignored GeneratorExit
[launcher-1] 2024-02-22 22:37:19 [44,522ms] [Error] [asyncio] Exception in callback Task.task_wakeup(<Future finished result=None>)
[launcher-1] handle: <Handle Task.task_wakeup(<Future finished result=None>)>
[launcher-1] Traceback (most recent call last):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/asyncio/events.py", line 80, in _run
[launcher-1] self._context.run(self._callback, *self._args)
[launcher-1] RuntimeError: Cannot enter into task <Task pending name='Task-3' coro=<NotificationManager.on_startup.<locals>.timer_fn() running at /isaac-sim/kit/exts/omni.kit.notification_manager/omni/kit/notification_manager/manager.py:178> wait_for=<Future finished result=None>> while another task <Task pending name='Task-417' coro=<TelnetServer._accept.<locals>.run() running at /isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/contrib/telnet/server.py:340> wait_for=<Future pending cb=[_chain_future.<locals>._call_check_cancel() at /isaac-sim/kit/python/lib/python3.10/asyncio/futures.py:385, Task.__wakeup()]>> is being executed.
[launcher-1] Exception ignored in: <async_generator object generator_to_async_generator at 0x7f3ffffd78c0>
[launcher-1] Traceback (most recent call last):
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/completion/base.py", line 230, in get_completions_async
[launcher-1] yield completion
[launcher-1] RuntimeError: async generator ignored GeneratorExit
[launcher-1] Exception ignored in: <async_generator object generator_to_async_generator at 0x7f40e3b470c0>
[launcher-1] Traceback (most recent call last):
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/completion/base.py", line 230, in get_completions_async
[launcher-1] yield completion
[launcher-1] RuntimeError: async generator ignored GeneratorExit
[launcher-1] Fatal Python error: Segmentation fault
[launcher-1]
[launcher-1] Thread 0x00007f308b7f6640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f308a7f4640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/selectors.py", line 469 in select
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 107 in _run_once
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 84 in run_until_complete
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 891 in run
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 855 in run_in_thread
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f30907f8640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1116 in _wait_for_tstate_lock
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1096 in join
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 871 in run
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/ptpython/python_input.py", line 1045 in read
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 58 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 83 in _worker
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f3090ff9640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/selectors.py", line 469 in select
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 107 in _run_once
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 84 in run_until_complete
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 891 in run
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 855 in run_in_thread
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Current thread 0x00007f308fff7640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/exts/omni.kit.viewport.menubar.camera/omni/kit/viewport/menubar/camera/camera_menu_container.py", line 157 in __on_usd_changed
[launcher-1] File "/isaac-sim/kit/exts/omni.usd.libs/pxr/Trace/__init__.py", line 77 in invoke
[launcher-1] File "/isaac-sim/extscache/omni.importer.urdf-1.6.1+105.1.lx64.r.cp310/omni/importer/urdf/scripts/commands.py", line 111 in do
[launcher-1] File "/isaac-sim/kit/exts/omni.kit.commands/omni/kit/undo/undo.py", line 419 in _execute
[launcher-1] File "/isaac-sim/kit/exts/omni.kit.commands/omni/kit/undo/undo.py", line 77 in execute
[launcher-1] File "/isaac-sim/kit/exts/omni.kit.commands/omni/kit/commands/command.py", line 463 in execute
[launcher-1] File "/root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/spawn.py", line 26 in main
[launcher-1] File "<stdin>", line 1 in <module>
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/ptpython/repl.py", line 266 in eval_async
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/ptpython/repl.py", line 150 in run_and_show_expression_async
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/ptpython/repl.py", line 197 in run_async
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/ptpython/repl.py", line 715 in coroutine
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/omni/isaac/repl/extension.py", line 33 in interact
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/contrib/telnet/server.py", line 194 in run_application
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/contrib/telnet/server.py", line 340 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/asyncio/tasks.py", line 232 in __step
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 196 in step
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/asyncio/tasks.py", line 315 in __wakeup
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/asyncio/events.py", line 80 in _run
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 120 in _run_once
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 84 in run_until_complete
[launcher-1] File "/root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/robot_controller.py", line 116 in loop_in_thread
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f30917fa640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1116 in _wait_for_tstate_lock
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1096 in join
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 871 in run
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/ptpython/python_input.py", line 1045 in read
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 58 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 83 in _worker
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f309bfff640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/selectors.py", line 469 in select
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 107 in _run_once
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 84 in run_until_complete
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 891 in run
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 855 in run_in_thread
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f30aafff640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1116 in _wait_for_tstate_lock
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1096 in join
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 871 in run
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/ptpython/python_input.py", line 1045 in read
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 58 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 83 in _worker
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f30d63fe640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/selectors.py", line 469 in select
[launcher-1] File "/isaac-sim/exts/omni.isaac.core_archive/pip_prebundle/nest_asyncio.py", line 107 in _run_once
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/asyncio/base_events.py", line 603 in run_forever
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/asyncio/base_events.py", line 636 in run_until_complete
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 891 in run
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 855 in run_in_thread
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f30d77de640 (most recent call first):
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1116 in _wait_for_tstate_lock
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1096 in join
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/prompt_toolkit/application/application.py", line 871 in run
[launcher-1] File "/isaac-sim/exts/omni.isaac.repl/pip_prebundle/ptpython/python_input.py", line 1045 in read
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 58 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/concurrent/futures/thread.py", line 83 in _worker
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 953 in run
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
[launcher-1] File "/isaac-sim/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap
[launcher-1]
[launcher-1] Thread 0x00007f4274b92b80 (most recent call first):
[launcher-1] File "/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py", line 423 in update
[launcher-1] File "/root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/start_sim.py", line 53 in main
[launcher-1] File "/root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/start_sim.py", line 60 in <module>
[launcher-1]
[launcher-1] Extension modules: psutil._psutil_linux, psutil._psutil_posix, pydantic.errors, pydantic.version, pydantic.utils, pydantic.class_validators, pydantic.color, pydantic.datetime_parse, pydantic.validators, pydantic.error_wrappers, pydantic.fields, pydantic.config, pydantic.parse, pydantic.schema, pydantic.annotated_types, pydantic.decorator, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, omni.mdl.pymdlsdk._pymdlsdk, torch._C, torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, torch._C._special, scipy._lib._ccallback_c, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.sparse.linalg._isolve._iterative, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg._cythonized_array_utils, scipy.linalg._flinalg, scipy.linalg._solve_toeplitz, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg.cython_lapack, scipy.linalg.cython_blas, scipy.linalg._matfuncs_expm, scipy.linalg._decomp_update, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, scipy.spatial.transform._rotation, PIL._imaging, PIL._imagingft, numpy.linalg.lapack_lite, scipy.ndimage._nd_image, _ni_label, scipy.ndimage._ni_label, osqp._osqp, multidict._multidict, yarl._quoting_c, aiohttp._helpers, aiohttp._http_writer, aiohttp._http_parser, aiohttp._websocket, cchardet._cchardet, _cffi_backend, frozenlist._frozenlist, yaml._yaml, scipy.io.matlab._mio_utils, scipy.io.matlab._streams, scipy.io.matlab._mio5_utils (total: 93)
[launcher-1] /isaac-sim/python.sh: line 41: 2842 Segmentation fault (core dumped) $python_exe "$@" $args
The program is below.
Thank you so much for your attention and participation.