Error when launching ./run_sim.sh about go2_omniverse HOT 16 CLOSED

Follwoing these errors:

[8.560s] [ext: omni.kit.xr.system.openxr-106.0.50] startup
Error [GENERAL | | OpenXR-Loader] : RuntimeManifestFile::FindManifestFiles - failed to determine active runtime file path for this environment
Error [GENERAL | xrEnumerateInstanceExtensionProperties | OpenXR-Loader] : RuntimeInterface::LoadRuntimes - unknown error
Error [GENERAL | xrEnumerateInstanceExtensionProperties | OpenXR-Loader] : RuntimeInterface::LoadRuntimes - failed to load a runtime
Error [GENERAL | xrEnumerateInstanceExtensionProperties | OpenXR-Loader] : Failed to find default runtime with RuntimeInterface::LoadRuntime()
Error [GENERAL | xrEnumerateInstanceExtensionProperties | OpenXR-Loader] : Failed querying extension properties

from go2_omniverse.

Hello, Have you tried to verify the installation?
https://isaac-sim.github.io/IsaacLab/source/setup/installation/verifying_installation.html
python source/standalone/tutorials/00_sim/create_empty.py

from go2_omniverse.

Hi, thanks for the reply.
Yes the verification works fine.

Did I miss something when installing this git repository?

Best regards

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What is the conda name are you using?

from go2_omniverse.

I can suggest you manually repeat all the steps from ./run_sim.sh

source /opt/ros/${ROS_DISTRO}/setup.bash
cd IsaacSim-ros_workspaces/${ROS_DISTRO}_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash
cd ../..
cd go2_omniverse_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash
cd ..
conda activate isaaclab
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6

python main.py --robot_amount 1 --robot go2
and see at what step do you have a problem

from go2_omniverse.

OK, let me try

from go2_omniverse.

What is the conda name are you using?

I am using the isaaclab, the one tat I set up following the official instructions

from go2_omniverse.

Hi, I have manually run all the commands in the shell script.

The simulation runs successfully.

At the mean time I need to fix several dependency errors during the process.

1. AttributeError: module 'em' has no attribute 'BUFFERED_OPT', solved by pip install empy==3.3.4
2. ModuleNotFoundError: No module named 'lark', solved by pip3 install lark

While, the original error regarding the isaac kit still remains.

Best regards

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Got it, I have removed the VR from the code, can you try again please?

from go2_omniverse.

Hi, I tried the new fix.

The kit error disapperd,

But for some reason, the shell script doesn't work, it starts the sim but the sim will close immediately.

To run the sim, I have to run the command step by step.

Best regards

from go2_omniverse.

Can you send me a short video or image of how you started the script?

from go2_omniverse.

Hi, I found the problem is that I run the shell script with isaaclab env already activated.
Once I turn off the isaaclab env, the shell works fine.

Thanks!

Btw, there are some minor points regarding G1,

1. The camera view point is from the roof top, not from head pointing front.
2. The pointcloud from G1 can not be displayed on rviz.
3. Which balancing algorithm do you use? And how did you train them?
4. Do you have some instructions regarding motion control?

Best regards

from go2_omniverse.

Thanks for your debugging! G1 is under development, I need to test many things, the project is huge, so need more time to do it. You can play with the transition of the camera and lidar and create a PR. After setup the correct translation, it will be in Rviz. I have trained my own balancing, using isaacLab, so you can try the same. Read the official docs, I have added the example there.

from go2_omniverse.

Hi, @abizovnuralem
Thanks for your help, and I’m glad I could debug.
May I know the URL of your example in isaaclab for balance control?

Best regards.

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This is it: isaac-sim/IsaacLab#453

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