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Corrects code highlighting in troubleshooting docs (#340)
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# Description

This MR fixes the code highlighting in the troubleshooting docs. It was
referring to Isaac Sim stuff which we don't need to do anymore.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
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Mayankm96 committed Dec 22, 2023
1 parent 8112301 commit 67c46ce
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1 change: 1 addition & 0 deletions docs/conf.py
Original file line number Diff line number Diff line change
Expand Up @@ -201,6 +201,7 @@
html_theme_options = {
"collapse_navigation": True,
"repository_url": "https://github.com/NVIDIA-Omniverse/Orbit",
"announcement": "We have now released v0.2.0! Please use the latest version for the best experience.",
"use_repository_button": True,
"use_issues_button": True,
"use_edit_page_button": True,
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15 changes: 0 additions & 15 deletions docs/source/refs/issues.rst
Original file line number Diff line number Diff line change
@@ -1,21 +1,6 @@
Known issues
============

Regression in Isaac Sim 2022.2.1
--------------------------------

In Isaac Sim 2022.2.1, we have noticed the following regression and issues that should be fixed in the
next release:

* The RTX-Lidar sensor does not work properly and returns empty data.
* The :class:`ArticulationView` class leads to issues when using GPU-physics pipeline.
* The :class:`UrdfImporter` does not load the off-diagonal elements of the inertia matrix properly. This
leads to incorrect physics simulation of the robot.

Due to this regression, we recommend using Isaac Sim 2022.2.0 for now. We will update this section once
the issues are fixed in a future release.


Blank initial frames from the camera
------------------------------------

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149 changes: 76 additions & 73 deletions docs/source/refs/troubleshooting.rst
Original file line number Diff line number Diff line change
Expand Up @@ -55,85 +55,25 @@ exceeds the size of the buffers, the simulation will fail with an error such as

.. code:: bash
PhysX error: the application need to increase the PxgDynamicsMemoryConfig::foundLostPairsCapacity parameter to 3072, otherwise the simulation will miss interactions
PhysX error: the application need to increase the PxgDynamicsMemoryConfig::foundLostPairsCapacity
parameter to 3072, otherwise the simulation will miss interactions
In this case, you need to increase the size of the buffers passed to the :class:`SimulationContext` class.
The size of the buffers can be increased by setting the ``found_lost_pairs_capacity`` in the ``sim_params``
argument to the :class:`SimulationContext` class. For example, to increase the size of the buffers to
``4096``, you can use the following code:
In this case, you need to increase the size of the buffers passed to the
:class:`~omni.isaac.orbit.sim.SimulationContext` class. The size of the buffers can be increased by setting
the :attr:`~omni.isaac.orbit.sim.PhysxCfg.gpu_found_lost_pairs_capacity` parameter in the
:class:`~omni.isaac.orbit.sim.PhysxCfg` class. For example, to increase the size of the buffers to
4096, you can use the following code:

.. code:: python
from omni.isaac.core.simulation_context import SimulationContext
import omni.isaac.orbit.sim as sim_utils
sim = SimulationContext(sim_params={"gpu_found_lost_pairs_capacity": 4096})
sim_cfg = sim_utils.SimulationConfig()
sim_cfg.physx.gpu_found_lost_pairs_capacity = 4096
sim = SimulationContext(sim_params=sim_cfg)
These settings are also directly exposed through the :class:`PhysxCfg` class in the ``omni.isaac.orbit_tasks``
extension, which can be used to configure the simulation engine. Please see the documentation for
:class:`PhysxCfg` for more details.


Understanding the error logs from crashes
-----------------------------------------

Many times the simulator crashes due to a bug in the implementation.
This swamps the terminal with exceptions, some of which are coming from
the python interpreter calling ``__del__()`` destructor of the
simulation application. These typically look like the following:

.. code:: bash
...
[INFO]: Completed setting up the environment...
Traceback (most recent call last):
File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 166, in <module>
main()
File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 126, in main
actions = pre_process_actions(delta_pose, gripper_command)
File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 57, in pre_process_actions
return torch.concat([delta_pose, gripper_vel], dim=1)
TypeError: expected Tensor as element 1 in argument 0, but got int
Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
Traceback (most recent call last):
File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
Traceback (most recent call last):
File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function SettingChangeSubscription.__del__ at 0x7fa2ea173e60>
Traceback (most recent call last):
File "../orbit/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__
AttributeError: 'NoneType' object has no attribute 'get_settings'
Exception ignored in: <function RegisteredActions.__del__ at 0x7f935f5cae60>
Traceback (most recent call last):
File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 345, in __del__
File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy
TypeError: 'NoneType' object is not callable
2022-12-02 15:41:54 [18,514ms] [Warning] [carb.audio.context] 1 contexts were leaked
../orbit/_isaac_sim/python.sh: line 41: 414372 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python
This is a known error with running standalone scripts with the Isaac Sim
simulator. Please scroll above the exceptions thrown with
``registry`` to see the actual error log.

In the above case, the actual error is:

.. code:: bash
Traceback (most recent call last):
File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 166, in <module>
main()
File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 126, in main
actions = pre_process_actions(delta_pose, gripper_command)
File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 57, in pre_process_actions
return torch.concat([delta_pose, gripper_vel], dim=1)
TypeError: expected Tensor as element 1 in argument 0, but got int
Please see the documentation for :class:`~omni.isaac.orbit.sim.SimulationCfg` for more details
on the parameters that can be used to configure the simulation.


Preventing memory leaks in the simulator
Expand Down Expand Up @@ -204,3 +144,66 @@ In this revised code, the weak reference ``weakref.proxy(self)`` is used when re
allowing the ``MyClass`` object to be properly garbage collected.

By following this pattern, you can prevent memory leaks and maintain a more efficient and stable simulation.


Understanding the error logs from crashes
-----------------------------------------

Many times the simulator crashes due to a bug in the implementation.
This swamps the terminal with exceptions, some of which are coming from
the python interpreter calling ``__del__()`` destructor of the
simulation application. These typically look like the following:

.. code:: bash
...
[INFO]: Completed setting up the environment...
Traceback (most recent call last):
File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 166, in <module>
main()
File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 126, in main
actions = pre_process_actions(delta_pose, gripper_command)
File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 57, in pre_process_actions
return torch.concat([delta_pose, gripper_vel], dim=1)
TypeError: expected Tensor as element 1 in argument 0, but got int
Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
Traceback (most recent call last):
File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
Traceback (most recent call last):
File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function SettingChangeSubscription.__del__ at 0x7fa2ea173e60>
Traceback (most recent call last):
File "../orbit/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__
AttributeError: 'NoneType' object has no attribute 'get_settings'
Exception ignored in: <function RegisteredActions.__del__ at 0x7f935f5cae60>
Traceback (most recent call last):
File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 345, in __del__
File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy
TypeError: 'NoneType' object is not callable
2022-12-02 15:41:54 [18,514ms] [Warning] [carb.audio.context] 1 contexts were leaked
../orbit/_isaac_sim/python.sh: line 41: 414372 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python
This is a known error with running standalone scripts with the Isaac Sim
simulator. Please scroll above the exceptions thrown with
``registry`` to see the actual error log.

In the above case, the actual error is:

.. code:: bash
Traceback (most recent call last):
File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 166, in <module>
main()
File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 126, in main
actions = pre_process_actions(delta_pose, gripper_command)
File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 57, in pre_process_actions
return torch.concat([delta_pose, gripper_vel], dim=1)
TypeError: expected Tensor as element 1 in argument 0, but got int
6 changes: 3 additions & 3 deletions docs/source/setup/installation.rst
Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@ Installing Isaac Sim

.. caution::

While the framework contains backwards compatibility for Isaac Sim 2022.2.1, we recommend using
the latest Isaac Sim 2023.1.0-hotfix.1 release. This release contains various improvements on the
While the framework contains some backwards compatibility for Isaac Sim 2022.2.1, we recommend using
the latest Isaac Sim 2023.1 release. This release contains various improvements on the
simulation side, and is the recommended version to use with Orbit.

For more information, please refer to the
Expand All @@ -38,7 +38,7 @@ To check the minimum system requirements,refer to the documentation
`here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html>`__.

.. note::
We have tested Orbit with Isaac Sim 2023.1.0 release on Ubuntu
We have tested Orbit with Isaac Sim 2023.1.0-hotfix.1 release on Ubuntu
20.04LTS with NVIDIA driver 525.147.

Configuring the environment variables
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