v0.7.0 with improved collision gradients, ESDF Voxel grid, Constrained Planning, Isaac sim 2023.1.1 support

[balakumar-s]

New Features

• Add function to disable and enable collision for specific links in KinematicsTensorConfig.
• Add goal index to reacher results to return index of goal reached when goalset planning.
• Add locked joint state update api in MotionGen class.
• Add goalset warmup padding to handle varied number of goals during goalset planning and also when
  calling plan_single after warmup of goalset.
• Add new trajopt config to allow for smooth solutions at slow speeds (velocity_scale<=0.25). Also
  add error when velocity_scale<0.1.
• Add experimental robot image segmentation module to enable robot removal in depth images.
• Add constrained planning mode to motion_gen.
• Use torch.compile to leverage better kernel fusion in place of torch.jit.script.
• Significantly improved collision computation for cuboids and meshes. Mesh collision checker is
  now only 2x slower than cuboid (from 5x slower). Optimization convergence is also improved.
• LBFGS kernels now support history <= 31 from history <= 15.
• 2x faster LBFGS kernel that allocates upto 68kb of shared memory, preventing use in CUDA devices
  with compute capability <7.0.
• On benchmarking Dataset, Planning time is now 42ms on average from 50ms. Higher quality solutions
  are also obtained. See benchmarks for more details.
• Add WorldCollisionVoxel, a new collision checking implementation that uses a voxel grid
  of signed distances (SDF) to compute collision avoidance metrics. Documentation coming soon, see
  benchmark/curobo_voxel_benchmark.py for an example.
• Add API for ESDF computation from world representations, see
  WorldCollision.get_esdf_in_bounding_box().
• Add partial support for isaac sim 2023.1.1. Most examples run for UR robots. Franka Panda is
  unstable.

Changes in default behavior

• Increased default collision cache to 50 in RobotWorld.
• Changed CSpaceConfig.position_limit_clip default to 0 as previous default of 0.01 can make
  default start state in examples be out of bounds.
• MotionGen uses parallel_finetune by default. To get previous motion gen behavior, pass
  warmup(parallel_finetune=False) and MotionGenPlanConfig(parallel_finetune=False).
• MotionGen loads Mesh Collision checker instead of Primitive by default.
• UR10e and UR5e now don't have a collision sphere at tool frame for world collision checking. This
  sphere is only active for self collision avoidance.
• With torch>=2.0, cuRobo will use torch.compile instead of torch.jit.script to generate fused
  kernels. This can take several seconds during the first run. To enable this feature, set
  environment variable export CUROBO_TORCH_COMPILE_DISABLE=0.

Breaking Changes

• Renamed copy_if_not_none to clone_if_not_none to be more descriptive. Now copy_if_not_none
  will try to copy data into reference.
• Renamed n_envs in curobo.opt module to avoid confusion between parallel environments and
  parallel problems in optimization.
• Added more inputs to pose distance kernels. Check curobolib/geom.py.
• Pose cost run_vec_weight should now be [0,0,0,0,0,0] instead of [1,1,1,1,1,1]
• max_distance is now tensor from float and is an input to collision kernels.
• Order of inputs to SweptSdfMeshWarpPy has changed.

BugFixes & Misc.

• refactored wp.index() instances to [] to avoid errors in future releases of warp.
• Fix bug in gaussian transformation to ensure values are not -1 or +1.
• Fix bug in ik_solver loading ee_link_name from argument.
• Fix bug in batch_goalset planning, where pose cost was selected as GOALSET instead of
  BATCH_GOALSET.
• Added package data to also export .so files.
• Fixed bug in transforming link visual mesh offset when reading from urdf.
• Fixed bug in MotionGenPlanConfig.clone() that didn't clone the state of parallel_finetune.
• Increased weighting from 1.0 to 10.0 for optimized_dt in TrajEvaluator to select shorter
  trajectories.
• Improved determinism by setting global seed for random in graph_nx.py.
• Added option to clear obstacles in WorldPrimitiveCollision.
• Raise error when reference of tensors change in MotionGen, IKSolver, and TrajOpt when cuda graph
  is enabled.
• plan_single will get converted to plan_goalset when a plan_goalset was used to initialize cuda
  graph.
• plan_goalset will pad for extra goals when called with less number of goal than initial creation.
• Improved API documentation for Optimizer class.
• Set use_cuda_graph to True as default from None in MotionGenConfig.load_from_robot_config
• Add batched mode to robot image segmentation, supports single robot multiple camera and batch
  robot batch camera.
• Add log_warn import to arm_reacher.py
• Remove negative radius check in self collision kernel to allow for self collision checking with
  spheres of negative radius.
• Added conftest.py to disable torch.compile for tests.
• Added UR5e robot with robotiq gripper (2f-140) with improved sphere model.
• Fix bug in aarch64.dockerfile where curobo was cloned to wrong path.
• Fix bug in aarch64.dockerfile where python was used instead of python3.
• Remove unused variables in kernels.
• Added pybind11 as a dependency as some pytorch dockers for Jetson do not have this installed.
• Fix incorrect dimensions in MotionGenResult.success in MotionGen.plan_batch() when
  trajectory optimization fails.
• Added unit tests for collision checking functions.
• Fix bug in linear interpolation which was not reading the new optimized_dt to interpolate
  velocity, acceleration, and jerk.
• Remove torch.jit.script wrapper for lbfgs as it causes TorchScript error if history is different
  between trajopt and finetune_trajopt.

Known Bugs (WIP)

• Franka Panda robot loading from urdf in isaac sim 2023.1.1 is unstable.

---

This discussion was created from the release v0.7.0 with improved collision gradients, ESDF Voxel grid, Constrained Planning, Isaac sim 2023.1.1 support.

[Follograph]

Hi,

Add partial support for isaac sim 2023.1.1. Most examples run for UR robots. Franka Panda is unstable.

Glad to see the update. What about other robots like kinova? Can the examples run well?

[balakumar-s]

We haven't tested other robots. Feel free to start a discussion on kinova if it doesn't work.

[peter-mitrano-bg]

I'm running into issues on 2023.1.1, for example trying to follow this tutorial has some problems:

1. the folder utils seems to now be called util
2. Some error about something being none?

Terminal output

peter.mitrano@ltpw08p4e0:~/Documents/p2$ omni_python curobo/examples/isaac_sim/util/convert_urdf_to_usd.py --robot ur5e.yml --save_usd
Starting kit application with the following args:  ['/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/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/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/exts', '--ext-folder', '/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/apps', '--/physics/cudaDevice=0', '--portable', '--no-window']
Passing the following args to the base kit application:  ['--robot', 'ur5e.yml', '--save_usd']
[Info] [carb] Logging to file: /home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/logs/Kit/Isaac-Sim/2023.1/kit_20240415_145458.log
2024-04-15 18:54:58 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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2024-04-15 18:54:59 [812ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-P)
2024-04-15 18:54:59 [812ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-P)

|---------------------------------------------------------------------------------------------|
| Driver Version: 550.54.15     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA RTX 2000 Ada Generation.. | Yes: 0 |     | 8188    MB | 10de      | 0          |
|     |                                  |        |     |            | 28b8      | 8f871389.. |
|     |                                  |        |     |            | 1         |            |
|---------------------------------------------------------------------------------------------|
| 1   | Intel(R) Graphics (RPL-P)        |        |     | 23817   MB | 8086      | 0          |
|     |                                  |        |     |            | a720      | 868020a7.. |
|     |                                  |        |     |            | 0         |            |
|=============================================================================================|
| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 6.5.0-1019-oem
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 13th Gen Intel(R) Core(TM) i7-13700H | Cores: 14 | Logical: 28
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31756 | Free Memory: 21712
| Total Page/Swap (MB): 1955 | Free Page/Swap: 1067
|---------------------------------------------------------------------------------------------|
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[3.291s] [ext: omni.kit.livestream.native-2.4.0] startup

Active user not found. Using default user [kiosk]Streaming server started.
[8.662s] [ext: omni.replicator.core-1.10.20] startup
2024-04-15 18:55:07 [8,675ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
[8.868s] [ext: omni.kit.viewport.menubar.lighting-105.0.7] startup
[8.872s] [ext: omni.isaac.urdf-1.1.0] startup
2024-04-15 18:55:07 [8,858ms] [Warning] [omni.isaac.urdf] The extension omni.isaac.urdf has been deprecated. Please use omni.importer.urdf instead.
[8.873s] [ext: omni.isaac.core_nodes-1.7.1] startup
[8.911s] [ext: omni.isaac.cloner-0.7.2] startup
[8.913s] [ext: omni.isaac.utils-0.6.0] startup
[8.923s] [ext: omni.isaac.wheeled_robots-0.9.0] startup
[8.944s] [ext: omni.isaac.gym-0.10.0] startup
[8.945s] [ext: omni.kit.selection-0.1.3] startup
[8.947s] [ext: omni.kit.menu.common-1.1.4] startup
[8.949s] [ext: omni.kit.widget.layers-1.6.32] startup
[8.960s] [ext: omni.kit.menu.edit-1.1.14] startup
[8.963s] [ext: omni.kit.menu.file-1.1.7] startup
[8.966s] [ext: omni.kit.property.layer-1.1.5] startup
[8.969s] [ext: semantics.schema.editor-0.3.4] startup
[8.971s] [ext: omni.kit.property.camera-1.0.5] startup
[8.973s] [ext: omni.kit.property.audio-1.0.9] startup
[8.978s] [ext: omni.kit.profiler.window-2.1.2] startup
2024-04-15 18:55:07 [9,068ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[9.085s] [ext: omni.kit.widget.stage_icons-1.0.4] startup
[9.086s] [ext: omni.hydra.scene_api-0.1.2] startup
[9.096s] [ext: omni.kit.property.light-1.0.8] startup
[9.098s] [ext: omni.kit.property.skel-1.0.4] startup
[9.101s] [ext: omni.kit.window.stage-2.4.4] startup
[9.105s] [ext: omni.kit.property.transform-1.3.10] startup
[9.110s] [ext: omni.kit.property.render-1.1.1] startup
[9.112s] [ext: omni.kit.property.material-1.8.36] startup
[9.116s] [ext: omni.kit.property.geometry-1.2.11] startup
[9.120s] [ext: omni.isaac.debug_draw-0.6.1] startup
2024-04-15 18:55:07 [9,113ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2024-04-15 18:55:07 [9,113ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
[9.130s] [ext: omni.kit.menu.stage-1.2.3] startup
[9.132s] [ext: omni.kit.property.bundle-1.2.9] startup
[9.135s] [ext: omni.kit.property.isaac-0.2.2] startup
[9.137s] [ext: omni.isaac.occupancy_map-0.3.2] startup
[9.161s] [ext: omni.isaac.mjcf-1.0.0] startup
2024-04-15 18:55:07 [9,148ms] [Warning] [omni.isaac.mjcf] The extension omni.isaac.mjcf has been deprecated. Please use omni.importer.mjcf instead.
[9.162s] [ext: omni.kit.viewport.actions-105.1.6] startup
[9.167s] [ext: omni.kit.widget.toolbar-1.5.6] startup
[9.175s] [ext: omni.kit.raycast.query-1.0.1] startup
[9.185s] [ext: omni.kit.manipulator.transform-104.6.15] startup
[9.188s] [ext: omni.rtx.window.settings-0.6.9] startup
[9.194s] [ext: omni.kit.viewport.menubar.display-105.1.0] startup
[9.196s] [ext: omni.kit.manipulator.tool.snap-1.4.2] startup
[9.203s] [ext: omni.hydra.pxr.settings-1.0.5] startup
[9.205s] [ext: omni.activity.pump-1.0.0] startup
[9.207s] [ext: omni.physx.commands-105.1.12-5.1] startup
[9.211s] [ext: omni.usdphysics.ui-105.1.12-5.1] startup
[9.244s] [ext: omni.kit.widget.live-2.1.6] startup
[9.246s] [ext: omni.kit.viewport.pxr-104.0.1] startup
[9.247s] [ext: omni.kit.viewport.ready-1.0.5] startup
[9.248s] [ext: omni.kit.viewport.rtx-104.0.0] startup
[9.248s] [ext: omni.physx.ui-105.1.12-5.1] startup
[9.281s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
[9.284s] [ext: usdrt.gf-1.0.2] startup
[9.284s] [ext: omni.kit.manipulator.selector-1.0.1] startup
[9.286s] [ext: omni.kit.window.commands-0.2.4] startup
[9.288s] [ext: omni.kit.window.console-0.2.10] startup
[9.300s] [ext: omni.kit.property.physx-0.1.0] startup
[9.364s] [ext: omni.kit.actions.window-1.1.0] startup
[9.368s] [ext: omni.physx.demos-105.1.12-5.1] startup
[9.372s] [ext: omni.kit.manipulator.prim-105.0.11] startup
[9.378s] [ext: omni.kit.window.toolbar-1.5.4] startup
[9.382s] [ext: omni.kit.manipulator.selection-104.0.8] startup
[9.383s] [ext: omni.kit.window.script_editor-1.7.4] startup
[9.387s] [ext: omni.kit.hotkeys.window-1.4.1] startup
[9.392s] [ext: omni.physx.camera-105.1.12-5.1] startup
[9.403s] [ext: omni.physx.cct-105.1.12-5.1] startup
[9.420s] [ext: omni.physx.graph-105.1.12-5.1] startup
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[9.452s] [ext: omni.physx.vehicle-105.1.12-5.1] startup
[9.470s] [ext: omni.kit.stage_column.payload-1.0.12] startup
[9.472s] [ext: omni.graph.ui_nodes-1.5.10] startup
[9.509s] [ext: omni.sensors.nv.common-1000.0.0-isaacsim.2023.1.1] startup
[9.520s] [ext: omni.sensors.nv.materials-1000.0.0-isaacsim.2023.1.1] startup
[9.523s] [ext: omni.sensors.nv.wpm-1000.0.0-isaacsim.2023.1.1] startup
[9.524s] [ext: omni.kit.window.status_bar-0.1.6] startup
[9.530s] [ext: omni.physx.bundle-105.1.12-5.1] startup
[9.530s] [ext: omni.graph.bundle.action-2.0.4] startup
[9.531s] [ext: omni.isaac.range_sensor-2.0.2] startup
[9.577s] [ext: omni.sensors.nv.lidar-1000.0.1-isaacsim.2023.1.1] startup
[9.584s] [ext: omni.sensors.nv.radar-1000.0.0-isaacsim.2023.1.1] startup
[9.590s] [ext: omni.kit.window.title-1.1.3] startup
[9.592s] [ext: omni.replicator.composer-1.2.17] startup
[9.613s] [ext: omni.replicator.isaac-1.11.3] startup
[9.643s] [ext: omni.kit.manipulator.camera-105.0.4] startup
[9.646s] [ext: omni.kit.viewport.menubar.camera-105.1.9] startup
[9.652s] [ext: omni.isaac.sensor-9.11.1] startup
[9.729s] [ext: omni.kit.viewport.menubar.render-105.1.1] startup
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[9.755s] [ext: omni.rtx.settings.core-0.5.13] startup
[9.760s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[9.763s] [ext: omni.isaac.quadruped-1.4.1] startup
[9.776s] [ext: semantics.schema.property-1.0.2] startup
[9.778s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[9.778s] [ext: omni.isaac.scene_blox-0.1.0] startup
[9.780s] [ext: omni.importer.urdf-1.6.1] startup
[9.828s] [ext: omni.importer.mjcf-1.1.0] startup
[9.839s] [ext: omni.kit.window.stats-0.1.4] startup
[9.840s] [ext: omni.isaac.sim.python-2023.1.1] startup
[9.841s] Simulation App Starting
2024-04-15 18:55:08 [9,854ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
2024-04-15 18:55:08 [9,854ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
2024-04-15 18:55:08 [9,854ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
2024-04-15 18:55:08 [9,855ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
2024-04-15 18:55:08 [9,855ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
2024-04-15 18:55:08 [9,855ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
2024-04-15 18:55:09 [11,159ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-04-15 18:55:09 [11,160ms] [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
[12.264s] app ready
2024-04-15 18:55:11 [12,719ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2024-04-15 18:55:11 [12,719ms] [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
[12.903s] RTX ready
[13.194s] Simulation App Startup Complete
2024-04-15 18:55:13 [14,597ms] [Warning] [omni.importer.urdf] The path base_link-base_link_inertia is not a valid usd path, modifying to base_link_base_link_inertia
2024-04-15 18:55:13 [14,597ms] [Warning] [omni.importer.urdf] The path base_link-base_fixed_joint is not a valid usd path, modifying to base_link_base_fixed_joint
2024-04-15 18:55:13 [14,597ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2024-04-15 18:55:13 [14,597ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2024-04-15 18:55:13 [14,597ms] [Warning] [omni.importer.urdf] The path base_link-base_link_inertia is not a valid usd path, modifying to base_link_base_link_inertia
2024-04-15 18:55:13 [14,597ms] [Warning] [omni.importer.urdf] The path base_link-base_fixed_joint is not a valid usd path, modifying to base_link_base_fixed_joint
2024-04-15 18:55:13 [14,597ms] [Warning] [omni.importer.urdf] The path wrist_3-flange is not a valid usd path, modifying to wrist_3_flange
2024-04-15 18:55:13 [14,597ms] [Warning] [omni.importer.urdf] The path flange-tool0 is not a valid usd path, modifying to flange_tool0
2024-04-15 18:55:13 [14,600ms] [Warning] [omni.importer.urdf] Link base_link has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-04-15 18:55:13 [14,602ms] [Warning] [omni.importer.urdf] Link base has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-04-15 18:55:13 [14,731ms] [Warning] [omni.importer.urdf] Link flange has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-04-15 18:55:13 [14,733ms] [Warning] [omni.importer.urdf] Link tool0 has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2024-04-15 18:55:13 [15,244ms] [Warning] [omni.physx.plugin] Detected an articulation at /ur5e_robot/base_link with more than 4 velocity iterations being added to a TGS scene.The related behavior changed recently, please consult the changelog. This warning will only print once.
2024-04-15 18:55:13 [15,323ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/ur5e_robot'
2024-04-15 18:55:13 [15,323ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2024-04-15 18:55:13 [15,323ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/ur5e_robot'
2024-04-15 18:55:13 [15,323ms] [Error] [omni.physx.tensors.plugin] Pattern '/ur5e_robot' did not match any articulations

Traceback (most recent call last):
  File "/home/berkshiregrey.com/peter.mitrano/Documents/p2/curobo/examples/isaac_sim/util/convert_urdf_to_usd.py", line 170, in <module>
    save_usd()
  File "/home/berkshiregrey.com/peter.mitrano/Documents/p2/curobo/examples/isaac_sim/util/convert_urdf_to_usd.py", line 97, in save_usd
    my_world.reset()
  File "/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 408, in reset
    self._scene._finalize(self.physics_sim_view)
  File "/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 322, in _finalize
    robot.initialize(physics_sim_view)
  File "/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation.py", line 294, in initialize
    self._articulation_view.initialize(physics_sim_view=physics_sim_view)
  File "/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 349, in initialize
    assert self._physics_view.is_homogeneous
  File "/home/berkshiregrey.com/peter.mitrano/.local/share/ov/pkg/isaac_sim-2023.1.1/extsPhysics/omni.physics.tensors-105.1.12-5.1/omni/physics/tensors/impl/api.py", line 170, in is_homogeneous
    return self._backend.is_homogeneous
AttributeError: 'NoneType' object has no attribute 'is_homogeneous'
2024-04-15 18:55:13 [15,336ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/berkshiregrey.com/peter.mitrano/.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
2024-04-15 18:55:13 [15,339ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-04-15 18:55:13 [15,340ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-04-15 18:55:13 [15,342ms] [Warning] [carb.audio.context] 1 contexts were leaked
2024-04-15 18:55:13 [15,364ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
2024-04-15 18:55:13 [15,373ms] [Warning] [omni.core.ITypeFactory] Module /home/berkshiregrey.com/peter.mitrano/.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.

[balakumar-s]

We don't have full support for Isaac Sim 2023.1.1. Is it possible for you to build the robot configuration from Isaac Sim 2023.1.0?

[peter-mitrano-bg]

Yep, that's what I'm doing now. Just thought I'd post since this seems to suggest it does support 2023.1.1

[balakumar-s]

Thanks for reporting.

[peter-mitrano-bg]

Thanks for the quick response -- also I just cross-referencing this post I just made, wasn't sure if it I should create an issue on this repository or not, since it's more of an issue with the Lula extension: https://forums.developer.nvidia.com/t/lula-robot-description-editor-file-extension-conflicts-with-curobos-convention/289716