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isaac-sim
[Bug Report] AttributeError: 'ViewerCfg' object has no attribute 'prim_path'
Describe the bug
I have used this tutorial and changed the environment from cartpole to FrankaLift, but I get the following error.
AttributeError: 'ViewerCfg' object has no attribute 'prim_path'
Steps to reproduce
Here is the script I run:
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
import argparse
from omni.isaac.orbit.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Tutorial on using the interactive scene interface.")
parser.add_argument("--num_envs", type=int, default=2, help="Number of environments to spawn.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import torch
import traceback
import carb
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg
from omni.isaac.orbit.sim import SimulationContext
from omni.isaac.orbit.utils import configclass
##
# Pre-defined configs
##
from omni.isaac.orbit_tasks.manipulation.lift.config.franka.joint_pos_env_cfg import FrankaCubeLiftEnvCfg # isort:skip
'''
@configclass
class CartpoleSceneCfg(InteractiveSceneCfg):
"""Configuration for a cart-pole scene."""
# ground plane
ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg())
# lights
dome_light = AssetBaseCfg(
prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
)
# articulation
cartpole: ArticulationCfg = CARTPOLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
'''
def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
"""Runs the simulation loop."""
# Extract scene entities
# note: we only do this here for readability.
robot = scene["robot"]
# Define simulation stepping
sim_dt = sim.get_physics_dt()
count = 0
# Simulation loop
while simulation_app.is_running():
# Reset
if count % 500 == 0:
# reset counter
count = 0
# reset the scene entities
# root state
# we offset the root state by the origin since the states are written in simulation world frame
# if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world
root_state = robot.data.default_root_state.clone()
root_state[:, :3] += scene.env_origins
robot.write_root_state_to_sim(root_state)
# set joint positions with some noise
joint_pos, joint_vel = robot.data.default_joint_pos.clone(), robot.data.default_joint_vel.clone()
joint_pos += torch.rand_like(joint_pos) * 0.1
robot.write_joint_state_to_sim(joint_pos, joint_vel)
# clear internal buffers
scene.reset()
print("[INFO]: Resetting robot state...")
# Apply random action
# -- generate random joint efforts
efforts = torch.randn_like(robot.data.joint_pos) * 5.0
# -- apply action to the robot
robot.set_joint_effort_target(efforts)
# -- write data to sim
scene.write_data_to_sim()
# Perform step
sim.step()
# Increment counter
count += 1
# Update buffers
scene.update(sim_dt)
def main():
"""Main function."""
# Load kit helper
sim_cfg = sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False)
sim = SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])
# Design scene
scene_cfg = FrankaCubeLiftEnvCfg()#env_spacing=2.5)
scene_cfg.env_spacing = 2.5
scene_cfg.num_envs = 2
scene = InteractiveScene(scene_cfg)
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Run the simulator
run_simulator(sim, scene)
if __name__ == "__main__":
try:
# run the main execution
main()
except Exception as err:
carb.log_error(err)
carb.log_error(traceback.format_exc())
raise
finally:
# close sim app
simulation_app.close()
Here is the full log.
~/repos/orbit$ cd /home/ali/repos/orbit ; /usr/bin/env /home/ali/miniconda3/envs/orbit24/bin/python /home/ali/.vscode/extensions/ms-python.python-2023.22.1/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher 37579 -- /home/ali/repos/orbit/source/standalone/tutorials/02_scene/create_franka_lift_scene.py
[INFO][AppLauncher]: Loading experience file: .
Starting kit application with the following args: ['/home/ali/repos/orbit/_isaac_sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/ali/repos/orbit/_isaac_sim/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/ali/repos/orbit/_isaac_sim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/ali/repos/orbit/_isaac_sim/exts', '--ext-folder', '/home/ali/repos/orbit/_isaac_sim/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application: []
[Info] [carb] Logging to file: /home/ali/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/logs/Kit/Isaac-Sim/2023.1/kit_20240202_223734.log
2024-02-03 06:37:34 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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|---------------------------------------------------------------------------------------------|
| Driver Version: 525.147.05 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 |
| | | | | | 2684 | ee556d89.. |
| | | | | | 65 | |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-92-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Core(TM) i9-10900X CPU @ 3.70GHz | Cores: 10 | Logical: 20
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 63979 | Free Memory: 53527
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
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Warp 1.0.0-beta.2 initialized:
CUDA Toolkit: 11.5, Driver: 12.0
Devices:
"cpu" | x86_64
"cuda:0" | NVIDIA GeForce RTX 4090 (sm_89)
Kernel cache: /home/ali/.cache/warp/1.0.0-beta.2
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2024-02-03 06:37:46 [11,572ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
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[11.589s] [ext: omni.hydra.scene_api-0.1.2] startup
[11.598s] [ext: omni.kit.property.light-1.0.8] startup
[11.602s] [ext: omni.kit.property.skel-1.0.4] startup
[11.606s] [ext: omni.kit.window.stage-2.4.4] startup
[11.614s] [ext: omni.kit.property.transform-1.3.10] startup
[11.621s] [ext: omni.kit.property.render-1.1.1] startup
[11.625s] [ext: omni.kit.property.material-1.8.36] startup
[11.631s] [ext: omni.kit.property.geometry-1.2.11] startup
[11.637s] [ext: omni.isaac.debug_draw-0.6.1] startup
2024-02-03 06:37:46 [11,632ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2024-02-03 06:37:46 [11,632ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
[11.650s] [ext: omni.kit.menu.stage-1.2.3] startup
[11.654s] [ext: omni.kit.property.bundle-1.2.9] startup
[11.658s] [ext: omni.kit.property.isaac-0.2.2] startup
[11.662s] [ext: omni.isaac.occupancy_map-0.3.2] startup
[11.689s] [ext: omni.isaac.mjcf-1.0.0] startup
2024-02-03 06:37:46 [11,678ms] [Warning] [omni.isaac.mjcf] The extension omni.isaac.mjcf has been deprecated. Please use omni.importer.mjcf instead.
[11.690s] [ext: omni.kit.viewport.actions-105.1.6] startup
[11.698s] [ext: omni.kit.widget.toolbar-1.5.6] startup
[11.711s] [ext: omni.kit.raycast.query-1.0.1] startup
[11.721s] [ext: omni.kit.manipulator.transform-104.6.15] startup
[11.724s] [ext: omni.rtx.window.settings-0.6.9] startup
[11.734s] [ext: omni.kit.viewport.menubar.display-105.1.0] startup
[11.738s] [ext: omni.kit.manipulator.tool.snap-1.4.2] startup
[11.751s] [ext: omni.hydra.pxr.settings-1.0.5] startup
[11.754s] [ext: omni.activity.pump-1.0.0] startup
[11.756s] [ext: omni.physx.commands-105.1.12-5.1] startup
[11.762s] [ext: omni.usdphysics.ui-105.1.12-5.1] startup
[11.800s] [ext: omni.kit.widget.live-2.1.6] startup
[11.804s] [ext: omni.kit.viewport.pxr-104.0.1] startup
[11.804s] [ext: omni.kit.viewport.ready-1.0.5] startup
[11.807s] [ext: omni.kit.viewport.rtx-104.0.0] startup
[11.807s] [ext: omni.physx.ui-105.1.12-5.1] startup
[11.848s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
[11.851s] [ext: usdrt.gf-1.0.2] startup
[11.851s] [ext: omni.kit.manipulator.selector-1.0.1] startup
[11.855s] [ext: omni.kit.window.commands-0.2.4] startup
[11.858s] [ext: omni.kit.window.console-0.2.10] startup
[11.871s] [ext: omni.kit.property.physx-0.1.0] startup
[11.960s] [ext: omni.kit.actions.window-1.1.0] startup
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[12.008s] [ext: omni.physx.camera-105.1.12-5.1] startup
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[12.125s] [ext: omni.kit.stage_column.payload-1.0.12] startup
[12.129s] [ext: omni.graph.ui_nodes-1.5.10] startup
[12.202s] [ext: omni.sensors.nv.common-1000.0.0-isaacsim.2023.1.1] startup
[12.212s] [ext: omni.sensors.nv.materials-1000.0.0-isaacsim.2023.1.1] startup
[12.214s] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] startup
[12.215s] [ext: omni.kit.window.status_bar-0.1.6] startup
[12.222s] [ext: omni.physx.bundle-105.1.12-5.1] startup
[12.222s] [ext: omni.graph.bundle.action-2.0.4] startup
[12.222s] [ext: omni.isaac.range_sensor-2.0.2] startup
[12.288s] [ext: omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1] startup
[12.295s] [ext: omni.sensors.nv.radar-1000.0.0-isaacsim.2023.1.1] startup
[12.300s] [ext: omni.kit.window.title-1.1.3] startup
[12.303s] [ext: omni.replicator.composer-1.2.17] startup
[12.354s] [ext: omni.replicator.isaac-1.11.3] startup
[12.447s] [ext: omni.kit.manipulator.camera-105.0.4] startup
[12.461s] [ext: omni.kit.viewport.menubar.camera-105.1.9] startup
[12.473s] [ext: omni.isaac.sensor-9.11.1] startup
[12.611s] [ext: omni.kit.viewport.menubar.render-105.1.1] startup
[12.626s] [ext: omni.kit.viewport.menubar.settings-105.0.9] startup
[12.643s] [ext: omni.replicator.replicator_yaml-2.0.4] startup
[12.669s] [ext: omni.rtx.settings.core-0.5.13] startup
[12.678s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[12.682s] [ext: omni.isaac.quadruped-1.4.1] startup
[12.703s] [ext: semantics.schema.property-1.0.2] startup
[12.707s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[12.707s] [ext: omni.isaac.scene_blox-0.1.0] startup
[12.711s] [ext: omni.importer.urdf-1.6.1] startup
[12.769s] [ext: omni.importer.mjcf-1.1.0] startup
[12.782s] [ext: omni.kit.window.stats-0.1.4] startup
[12.784s] [ext: omni.isaac.sim.python-2023.1.1] startup
[12.786s] Simulation App Starting
2024-02-03 06:37:47 [12,820ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2024-02-03 06:37:47 [12,821ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2024-02-03 06:37:47 [12,821ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2024-02-03 06:37:47 [12,821ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2024-02-03 06:37:47 [12,822ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2024-02-03 06:37:47 [12,822ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2024-02-03 06:37:49 [14,930ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-02-03 06:37:49 [14,930ms] [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
[16.674s] app ready
2024-02-03 06:37:52 [17,386ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-02-03 06:37:52 [17,386ms] [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
[17.982s] RTX ready
[18.435s] Simulation App Startup Complete
[23.448s] [ext: omni.physx.fabric-105.1.12-5.1] startup
2024-02-03 06:38:03 [28,868ms] [Error] [__main__] 'ViewerCfg' object has no attribute 'prim_path'
2024-02-03 06:38:03 [28,870ms] [Error] [__main__] Traceback (most recent call last):
File "/home/ali/repos/orbit/source/standalone/tutorials/02_scene/create_franka_lift_scene.py", line 137, in <module>
main()
File "/home/ali/repos/orbit/source/standalone/tutorials/02_scene/create_franka_lift_scene.py", line 125, in main
scene = InteractiveScene(scene_cfg)
File "/home/ali/repos/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py", line 142, in __init__
self._add_entities_from_cfg()
File "/home/ali/repos/orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py", line 338, in _add_entities_from_cfg
asset_cfg.prim_path = asset_cfg.prim_path.format(ENV_REGEX_NS=self.env_regex_ns)
AttributeError: 'ViewerCfg' object has no attribute 'prim_path'
[29.224s] Simulation App Shutting Down
2024-02-03 06:38:04 [29,230ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/ali/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-02-03 06:38:04 [29,264ms] [Warning] [omni.core.ITypeFactory] Module /home/ali/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.
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System Info
Describe the characteristic of your environment:
Commit: https://github.com/NVIDIA-Omniverse/orbit/commit/670a8c97db645d50a3ea89b06f7366fc2212fc06 Isaac Sim Version: 2023.1.1-rc.8+2023.1.688.573e0291.tc(base) OS: Ubuntu 20.04 GPU: RTX 4090 CUDA: 12.3 GPU Driver: 525.147.05
Checklist
- I have checked that there is no similar issue in the repo (required)
- I have checked that the issue is not in running Isaac Sim itself and is related to the repo
