I am trying the examples of Isaac Sim 4.0 , but I can’t load them, the GUI window would show “not respoding”, and after a while, the bash window will print put the following messages.
[4.597s] Writing Isaac Sim icon file
[4.597s] [ext: omni.isaac.assets_check-0.3.4] startup
[4.598s] [ext: omni.kit.profiler.window-2.2.1] startup
2024-06-17 06:47:48 [4,582ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.lt and use insort ‘key’ arg instead
[4.602s] [ext: omni.isaac.sim.base-4.0.0] startup
[4.603s] [ext: omni.isaac.sim-4.0.0] startup
[8.417s] app ready
[8.801s] Isaac Sim App is loaded.
2024-06-17 06:48:30 [46,471ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
File “/home/xxx/ov/isaac-sim-4.0.0/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py”, line 251, in
File “/home/xxx/ov/isaac-sim-4.0.0/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py”, line 186, in run_once
File “/home/xxx/ov/isaac-sim-4.0.0/kit/python/lib/python3.10/asyncio/base_events.py”, line 1909, in _run_once
File “/home/xxx/ov/isaac-sim-4.0.0/kit/python/lib/python3.10/asyncio/events.py”, line 80, in _run
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.examples/omni/isaac/examples/base_sample/base_sample_extension.py”, line 153, in _on_load_world_async
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.examples/omni/isaac/examples/base_sample/base_sample.py”, line 43, in load_world_async
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.examples/omni/isaac/examples/bin_filling/bin_filling.py”, line 26, in setup_scene
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/tasks/bin_filling.py”, line 34, in init
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.nucleus/omni/isaac/nucleus/nucleus.py”, line 572, in get_assets_root_path
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.nucleus/omni/isaac/nucleus/nucleus.py”, line 192, in check_server
File “/home/xxx/ov/isaac-sim-4.0.0/kit/extscore/omni.client/omni/client/init.py”, line 130, in stat2024-06-17 06:53:21 [338,142ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp – In </World/Scene>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/Samples/Leonardo/Stage/ur10_bin_filling.usd@ for reference introduced by @anon:0x7efc34005050:World1.usd@</World/Scene>. (recomposing stage on stage @anon:0x7efc34005050:World1.usd@ <0x7efc34007ed0>)
2024-06-17 06:55:55 [492,269ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp – In </World/Scene/ur10>: Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/Robots/UniversalRobots/ur10/ur10.usd@ for reference introduced by @anon:0x7efc34005050:World1.usd@</World/Scene/ur10>. (recomposing stage on stage @anon:0x7efc34005050:World1.usd@ <0x7efc34007ed0>)
2024-06-17 06:55:56 [493,234ms] [Warning] [omni.isaac.universal_robots.ur10] Not adding a gripper usd, the gripper already exists in the ur10 asset
2024-06-17 06:55:56 [493,294ms] [Error] [asyncio] Task exception was never retrieved
future: <Task finished name=‘Task-842’ coro=<BaseSampleExtension._on_load_world.._on_load_world_async() done, defined at /home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.examples/omni/isaac/examples/base_sample/base_sample_extension.py:152> exception=Exception(‘Prim path expression /World/Scene/ur10/ee_link is invalid, a prim matching the expression needs to created before wrapping it as view’)>
Traceback (most recent call last):
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.examples/omni/isaac/examples/base_sample/base_sample_extension.py”, line 153, in _on_load_world_async
await self._sample.load_world_async()
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.examples/omni/isaac/examples/base_sample/base_sample.py”, line 47, in load_world_async
await self._world.reset_async()
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.core/omni/isaac/core/world/world.py”, line 501, in reset_async
await self.reset_async_set_up_scene()
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.core/omni/isaac/core/world/world.py”, line 427, in reset_async_set_up_scene
task.set_up_scene(self.scene)
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/tasks/bin_filling.py”, line 71, in set_up_scene
UR10(prim_path=“/World/Scene/ur10”, name=“my_ur10”, gripper_usd=None, attach_gripper=True)
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.universal_robots/omni/isaac/universal_robots/ur10.py”, line 90, in init
self._gripper = SurfaceGripper(
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.manipulators/omni/isaac/manipulators/grippers/surface_gripper.py”, line 48, in init
Gripper.init(self, end_effector_prim_path=end_effector_prim_path)
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.manipulators/omni/isaac/manipulators/grippers/gripper.py”, line 24, in init
RigidPrim.init(self, prim_path=end_effector_prim_path, name=“gripper”)
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.core/omni/isaac/core/prims/rigid_prim.py”, line 115, in init
self._rigid_prim_view = RigidPrimView(
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.core/omni/isaac/core/prims/rigid_prim_view.py”, line 144, in init
XFormPrimView.init(
File “/home/xxx/ov/isaac-sim-4.0.0/exts/omni.isaac.core/omni/isaac/core/prims/xform_prim_view.py”, line 132, in init
raise Exception(
Exception: Prim path expression /World/Scene/ur10/ee_link is invalid, a prim matching the expression needs to created before wrapping it as view