[Bug Report] Unable to run rsl_rl related env

[Felix-Zhenghao]

If you are submitting a bug report, please fill in the following details and use the tag [bug].

Describe the bug

Unable to run the Isaac-Velocity-Rough-Unitree-Go1-v0 envirionment.

Steps to reproduce

Just use the following command (add --headless will produce the same error message):

./orbit.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Rough-Unitree-Go1-v0 --num_envs 64

System Info

Describe the characteristic of your environment:

• Commit: The newest commit
• Isaac Sim Version: 2023.1.1
• OS: Ubuntu 20.04
• GPU: RTX 3080
• CUDA: 12.2
• GPU Driver: 535.161.07

Additional context

Running Isaac-Cartpole-v0 is OK.

Checklist

• [x] I have checked that there is no similar issue in the repo (required)

Acceptance Criteria

Add the criteria for which this task is considered done. If not known at issue creation time, you can add this once the issue is assigned.

• [ ] Able to run the Isaac-Velocity-Rough-Unitree-Go1-v0 envirionment and see the UI successfully.

[Mayankm96]

Is this the error you are seeing as well?

2024-03-15 09:03:44 [2,890ms] [Error] [omni.ext.plugin] Failed to resolve extension dependencies. Failure hints:
	[omni.isaac.sim.python-2023.1.1] dependency: (name: 'omni.kit.streamsdk.plugins', tag: '', version: '2.5.2', exact: 1, optional: 0) can't be satisfied. Available versions:
	 - [omni.kit.streamsdk.plugins-2.6.2+105.1.lx64.r] (registry)
	 - [omni.kit.streamsdk.plugins-2.5.1+105.1.lx64.r] (registry)
	 - [omni.kit.streamsdk.plugins-2.5.0+105.1.lx64.r] (registry)
	 - [omni.kit.streamsdk.plugins-2.3.7+105.1.lx64.r] (registry)
	 - [omni.kit.streamsdk.plugins-2.0.3+105.0.lx64.r] (registry)

2024-03-15 09:03:44 [2,890ms] [Error] [omni.kit.app.plugin] Exiting app because of dependency solver failure...
Traceback (most recent call last):
  File "/home/mayank/git_nv/branches/orbit_release/source/standalone/workflows/rsl_rl/train.py", line 47, in <module>
    app_launcher = AppLauncher(args_cli, experience=app_experience)
  File "/home/mayank/git_nv/branches/orbit_release/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py", line 109, in __init__
    self._create_app()
  File "/home/mayank/git_nv/branches/orbit_release/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py", line 435, in _create_app
    self._app = SimulationApp(self._simulationapp_config, experience=self._simulationapp_experience)
  File "/home/mayank/git_nv/branches/orbit_release/_isaac_sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py", line 195, in __init__
    from .utils import create_new_stage, open_stage, set_livesync_stage
  File "/home/mayank/git_nv/branches/orbit_release/_isaac_sim/exts/omni.isaac.kit/omni/isaac/kit/utils.py", line 17, in <module>
    from omni.kit.usd import layers
ModuleNotFoundError: No module named 'omni.kit.usd'

[Felix-Zhenghao]

This is the error I saw. But both errors seem to have relationship with the 'kit' stuff? Can that be solved?

2024-03-15 07:35:39 [30,547ms] [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/rezwan/workspace_felix/tom_and_jerry/run_env.py", line 76, in <module>
  File "/home/rezwan/workspace_felix/tom_and_jerry/run_env.py", line 45, in main
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py", line 85, in __init__
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py", line 135, in __init__
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py", line 369, in reset
  File "/home/rezwan/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 624, in reset
  File "/home/rezwan/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 596, in initialize_physics
  File "/home/rezwan/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 701, in step
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py", line 92, in <lambda>
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py", line 255, in _initialize_callback
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py", line 518, in _initialize_impl
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py", line 615, in _process_actuators_cfg
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_net.py", line 129, in __init__
  File "/home/rezwan/workspace_felix/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/assets.py", line 133, in read_file
  File "/home/rezwan/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/extscore/omni.client/omni/client/__init__.py", line 491, in read_file

[Mayankm96]

Please make sure you are connected to Nucleus: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#assets-and-nucleus

[zoctipus]

Is this the error you are seeing as well?

2024-03-15 09:03:44 [2,890ms] [Error] [omni.ext.plugin] Failed to resolve extension dependencies. Failure hints:
	[omni.isaac.sim.python-2023.1.1] dependency: (name: 'omni.kit.streamsdk.plugins', tag: '', version: '2.5.2', exact: 1, optional: 0) can't be satisfied. Available versions:
	 - [omni.kit.streamsdk.plugins-2.6.2+105.1.lx64.r] (registry)
	 - [omni.kit.streamsdk.plugins-2.5.1+105.1.lx64.r] (registry)
	 - [omni.kit.streamsdk.plugins-2.5.0+105.1.lx64.r] (registry)
	 - [omni.kit.streamsdk.plugins-2.3.7+105.1.lx64.r] (registry)
	 - [omni.kit.streamsdk.plugins-2.0.3+105.0.lx64.r] (registry)

2024-03-15 09:03:44 [2,890ms] [Error] [omni.kit.app.plugin] Exiting app because of dependency solver failure...
Traceback (most recent call last):
  File "/home/mayank/git_nv/branches/orbit_release/source/standalone/workflows/rsl_rl/train.py", line 47, in <module>
    app_launcher = AppLauncher(args_cli, experience=app_experience)
  File "/home/mayank/git_nv/branches/orbit_release/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py", line 109, in __init__
    self._create_app()
  File "/home/mayank/git_nv/branches/orbit_release/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py", line 435, in _create_app
    self._app = SimulationApp(self._simulationapp_config, experience=self._simulationapp_experience)
  File "/home/mayank/git_nv/branches/orbit_release/_isaac_sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py", line 195, in __init__
    from .utils import create_new_stage, open_stage, set_livesync_stage
  File "/home/mayank/git_nv/branches/orbit_release/_isaac_sim/exts/omni.isaac.kit/omni/isaac/kit/utils.py", line 17, in <module>
    from omni.kit.usd import layers
ModuleNotFoundError: No module named 'omni.kit.usd'

I am seeing this issue after I pulled the update today, I made sure all services in nucleus setting http://localhost:3080/ is on, and check ~/.local/share/ov/data/Kit/Isaac-Sim/2023.1/user.config.json has the same configuration as . But this issue is still there. May I wonder how did you resolved it?