data-collection运行之后一直卡着

[workharddaydayup]

请教一下
omni_python scripts/run_data_collection.py --task_template tasks/geniesim_2025/sort_fruit/g2/sort_the_fruit_into_the_box_apple_g2.json --use_recording
之后，显示
[omniagent.py:851] Start Tasksaved_task/sort_the_fruit_into_the_box_apple_g2/sort_the_fruit_into_the_box_apple_g2_0.json
界面一直卡在这一行，是为什么
server侧一直在[data_collector_server.py:116] **** simulation paused ****。
isaac-sim界面无显示内容

[MiaoMieu]

这个看起来是server 侧和 client侧 没有通信成功， 可以先试下一键启动的脚本 run_data_collection.sh 能否执行， 再检查下 docker container 间的网络是否通信

[Dwl2021]

run_data_collection.sh 显式照不到_structure怎么办

[MiaoMieu]

run_data_collection.sh 显式照不到_结构怎么办

see #98

[workharddaydayup]

您好，一键运行时候显示Failed to connect to gRPC server；以及后边报错
@MiaoMieu
`
2026-03-23T03:09:49Z [165ms] [Fatal] [carb.crashreporter-breakpad.plugin] [crash] Thread 96 backtrace follows:
2026-03-23T03:09:49Z [175ms] [Fatal] [carb.crashreporter-breakpad.plugin] 000: libc.so.6!__sigaction+0x50 (??:?)
2026-03-23T03:09:49Z [186ms] [Fatal] [carb.crashreporter-breakpad.plugin] 001: libc.so.6!pthread_kill+0x11c (??:?)
2026-03-23T03:09:49Z [197ms] [Fatal] [carb.crashreporter-breakpad.plugin] 002: libc.so.6!gsignal+0x1e (??:?)
2026-03-23T03:09:49Z [208ms] [Fatal] [carb.crashreporter-breakpad.plugin] 003: libc.so.6!abort+0xdf (??:?)
2026-03-23T03:09:49Z [220ms] [Fatal] [carb.crashreporter-breakpad.plugin] 004: libc.so.6!perror+0xd23 (??:?)
2026-03-23T03:09:49Z [231ms] [Fatal] [carb.crashreporter-breakpad.plugin] 005: libc.so.6!__fortify_fail+0x19 (??:?)
2026-03-23T03:09:49Z [242ms] [Fatal] [carb.crashreporter-breakpad.plugin] 006: libc.so.6!__fdelt_warn+0x25 (??:?)
2026-03-23T03:09:49Z [294ms] [Fatal] [carb.crashreporter-breakpad.plugin] 007: libddsc.so.0!os_sockWaitsetNew+0x11f (/workspace/jazzy_ws/src/cyclonedds/src/core/ddsi/src/q_sockwaitset.c:687)
2026-03-23T03:09:49Z [337ms] [Fatal] [carb.crashreporter-breakpad.plugin] 008: libddsc.so.0!rtps_start+0x1da (/workspace/jazzy_ws/src/cyclonedds/src/core/ddsi/src/q_init.c:1000)
2026-03-23T03:09:49Z [401ms] [Fatal] [carb.crashreporter-breakpad.plugin] 009: libddsc.so.0!dds_domain_create_internal_xml_or_raw+0x348 (/workspace/jazzy_ws/src/cyclonedds/src/core/ddsc/src/dds_domain.c:176)
2026-03-23T03:09:49Z [464ms] [Fatal] [carb.crashreporter-breakpad.plugin] 010: libddsc.so.0!dds_create_domain+0x60 (/workspace/jazzy_ws/src/cyclonedds/src/core/ddsc/src/dds_domain.c:294)
2026-03-23T03:09:49Z [470ms] [Fatal] [carb.crashreporter-breakpad.plugin] 011: librmw_cyclonedds_cpp.so!rmw_init_options_fini+0x295d (??:?)
2026-03-23T03:09:49Z [476ms] [Fatal] [carb.crashreporter-breakpad.plugin] 012: librmw_cyclonedds_cpp.so!rmw_init_options_fini+0x386f (??:?)
2026-03-23T03:09:49Z [483ms] [Fatal] [carb.crashreporter-breakpad.plugin] 013: librmw_cyclonedds_cpp.so!rmw_create_node+0x496 (??:?)
2026-03-23T03:09:49Z [488ms] [Fatal] [carb.crashreporter-breakpad.plugin] 014: librmw_implementation.so!rmw_create_node+0x71 (??:?)
2026-03-23T03:09:49Z [495ms] [Fatal] [carb.crashreporter-breakpad.plugin] 015: librcl.so!rcl_node_init+0xc9e (??:?)
2026-03-23T03:09:49Z [498ms] [Fatal] [carb.crashreporter-breakpad.plugin] 016: _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so!+0x4a628
2026-03-23T03:09:49Z [502ms] [Fatal] [carb.crashreporter-breakpad.plugin] 017: _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so!std::oct(std::ios_base&)+0x7c81 (??:?)
2026-03-23T03:09:49Z [508ms] [Fatal] [carb.crashreporter-breakpad.plugin] 018: _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so!std::oct(std::ios_base&)+0x6de5 (??:?)
2026-03-23T03:09:49Z [514ms] [Fatal] [carb.crashreporter-breakpad.plugin] 019: _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so!std::__detail::_Scanner::_M_eat_escape_posix()+0x69f5 (??:?)
2026-03-23T03:09:49Z [520ms] [Fatal] [carb.crashreporter-breakpad.plugin] 020: _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so!std::__detail::_Scanner::_M_eat_escape_posix()+0x3ff6 (??:?)
2026-03-23T03:09:49Z [526ms] [Fatal] [carb.crashreporter-breakpad.plugin] 021: _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so!std::__detail::_Scanner::_M_eat_escape_posix()+0x11c2 (??:?)
2026-03-23T03:09:49Z [533ms] [Fatal] [carb.crashreporter-breakpad.plugin] 022: _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so!std::__detail::_Scanner::_M_eat_escape_posix()+0x1499 (??:?)
2026-03-23T03:09:49Z [536ms] [Fatal] [carb.crashreporter-breakpad.plugin] 023: _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so!+0x614a4
2026-03-23T03:09:49Z [611ms] [Fatal] [carb.crashreporter-breakpad.plugin] 024: libpython3.11.so.1.0!cfunction_call+0x37 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Objects/methodobject.c:542)
2026-03-23T03:09:50Z [653ms] [Fatal] [carb.crashreporter-breakpad.plugin] 025: libpython3.11.so.1.0!_PyObject_MakeTpCall+0x95 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/./Include/internal/pycore_ceval.h:123)
2026-03-23T03:09:50Z [696ms] [Fatal] [carb.crashreporter-breakpad.plugin] 026: libpython3.11.so.1.0!method_vectorcall+0x221 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/./Include/internal/pycore_call.h:90)
2026-03-23T03:09:50Z [736ms] [Fatal] [carb.crashreporter-breakpad.plugin] 027: libpython3.11.so.1.0!_PyObject_Call+0x9d (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Objects/call.c:349)
2026-03-23T03:09:50Z [823ms] [Fatal] [carb.crashreporter-breakpad.plugin] 028: libpython3.11.so.1.0!slot_tp_init+0x5b (/builds/omniverse/externals/python-build/_build/Python-3.11.13/./Include/object.h:537)
2026-03-23T03:09:50Z [909ms] [Fatal] [carb.crashreporter-breakpad.plugin] 029: libpython3.11.so.1.0!type_call+0x91 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Objects/typeobject.c:1104)
2026-03-23T03:09:50Z [920ms] [Fatal] [carb.crashreporter-breakpad.plugin] 030: _carb.cpython-311-x86_64-linux-gnu.so!std::__detail::_Map_base<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::pair<std::__cxx11::basic_string<char, std::char_traits, std::allocator > const, void*>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits, std::allocator > const, void*> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits, std::allocator > >, std::hash<std::__cxx11::basic_string<char, std::char_traits, std::allocator > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true>, true>::operator[](std::__cxx11::basic_string<char, std::char_traits, std::allocator >&&)+0xdb19 (??:?)
2026-03-23T03:09:50Z [960ms] [Fatal] [carb.crashreporter-breakpad.plugin] 031: libpython3.11.so.1.0!_PyObject_MakeTpCall+0x95 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/./Include/internal/pycore_ceval.h:123)
2026-03-23T03:09:50Z [1,078ms] [Fatal] [carb.crashreporter-breakpad.plugin] 032: libpython3.11.so.1.0!_PyEval_EvalFrameDefault+0x6cae (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Python/ceval.c:4769)
2026-03-23T03:09:50Z [1,195ms] [Fatal] [carb.crashreporter-breakpad.plugin] 033: libpython3.11.so.1.0!_PyEval_Vector+0xba (/builds/omniverse/externals/python-build/_build/Python-3.11.13/./Include/internal/pycore_ceval.h:73)
2026-03-23T03:09:50Z [1,235ms] [Fatal] [carb.crashreporter-breakpad.plugin] 034: libpython3.11.so.1.0!_PyObject_FastCallDictTstate+0xb9 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Objects/call.c:154)
2026-03-23T03:09:50Z [1,275ms] [Fatal] [carb.crashreporter-breakpad.plugin] 035: libpython3.11.so.1.0!_PyObject_Call_Prepend+0xe4 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Objects/call.c:489)
2026-03-23T03:09:50Z [1,360ms] [Fatal] [carb.crashreporter-breakpad.plugin] 036: libpython3.11.so.1.0!slot_tp_init+0xcc (/builds/omniverse/externals/python-build/_build/Python-3.11.13/./Include/object.h:537)
2026-03-23T03:09:50Z [1,446ms] [Fatal] [carb.crashreporter-breakpad.plugin] 037: libpython3.11.so.1.0!type_call+0x91 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Objects/typeobject.c:1104)
2026-03-23T03:09:50Z [1,486ms] [Fatal] [carb.crashreporter-breakpad.plugin] 038: libpython3.11.so.1.0!_PyObject_MakeTpCall+0x95 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/./Include/internal/pycore_ceval.h:123)
2026-03-23T03:09:50Z [1,601ms] [Fatal] [carb.crashreporter-breakpad.plugin] 039: libpython3.11.so.1.0!_PyEval_EvalFrameDefault+0x6cae (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Python/ceval.c:4769)
2026-03-23T03:09:51Z [1,716ms] [Fatal] [carb.crashreporter-breakpad.plugin] 040: libpython3.11.so.1.0!PyEval_EvalCode+0x4ba (/builds/omniverse/externals/python-build/_build/Python-3.11.13/./Include/internal/pycore_ceval.h:73)
2026-03-23T03:09:51Z [1,862ms] [Fatal] [carb.crashreporter-breakpad.plugin] 041: libpython3.11.so.1.0!run_mod+0xa5 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Python/pythonrun.c:1742)
2026-03-23T03:09:51Z [2,006ms] [Fatal] [carb.crashreporter-breakpad.plugin] 042: libpython3.11.so.1.0!_PyRun_SimpleFileObject+0x130 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Python/pythonrun.c:1662)
2026-03-23T03:09:51Z [2,148ms] [Fatal] [carb.crashreporter-breakpad.plugin] 043: libpython3.11.so.1.0!_PyRun_AnyFileObject+0x3c (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Python/pythonrun.c:79)
2026-03-23T03:09:51Z [2,307ms] [Fatal] [carb.crashreporter-breakpad.plugin] 044: libpython3.11.so.1.0!Py_RunMain+0x793 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Modules/main.c:361)
2026-03-23T03:09:51Z [2,465ms] [Fatal] [carb.crashreporter-breakpad.plugin] 045: libpython3.11.so.1.0!Py_BytesMain+0x43 (/builds/omniverse/externals/python-build/_build/Python-3.11.13/Modules/main.c:739)
2026-03-23T03:09:51Z [2,476ms] [Fatal] [carb.crashreporter-breakpad.plugin] 046: libc.so.6!__libc_init_first+0x8a (??:?)
2026-03-23T03:09:51Z [2,487ms] [Fatal] [carb.crashreporter-breakpad.plugin] 047: libc.so.6!__libc_start_main+0x8b (??:?)
2026-03-23T03:09:51Z [2,490ms] [Fatal] [carb.crashreporter-breakpad.plugin] 048: python3!_start+0x29 (??:?)
Traceback (most recent call last):
File "/geniesim/main/data_collection/scripts/run_data_collection.py", line 84, in
agent.run(
File "/geniesim/main/data_collection/client/agent/omniagent.py", line 851, in run
task_info, objects = self.load_task(
^^^^^^^^^^^^^^^
File "/geniesim/main/data_collection/client/agent/omniagent.py", line 617, in load_task
self.start_recording(
File "/geniesim/main/data_collection/client/agent/omniagent.py", line 108, in start_recording
self.robot.client.start_recording(
File "/geniesim/main/data_collection/client/robot/client.py", line 321, in start_recording
response = stub.get_observation(req)
^^^^^^^^^^^^^^^^^^^^^^^^^
File "/isaac-sim/kit/python/lib/python3.11/site-packages/grpc/_channel.py", line 1159, in call
return _end_unary_response_blocking(state, call, False, None)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/isaac-sim/kit/python/lib/python3.11/site-packages/grpc/_channel.py", line 990, in _end_unary_response_blocking
raise _InactiveRpcError(state) # pytype: disable=not-instantiable
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
grpc._channel._InactiveRpcError: <_InactiveRpcError of RPC that terminated with:
status = StatusCode.UNAVAILABLE
details = "Socket closed"
debug_error_string = "UNKNOWN:Error received from peer {grpc_message:"Socket closed", grpc_status:14}"

There was an error running python
`
请问一下是这个gRPC server连接不上吗，似乎是不是ROS启动失败了，请问要怎么修复了

[MiaoMieu]

这个看起来是server侧 isaacsim挂了 （可能是因为ros）， 请用data_collection里面的start_gui.sh run 进到docker 里面 直接isaacsim看看是否能正常启动

[workharddaydayup]

@MiaoMieu 您好，我直接使用./isaac-sim.sh启动可以正常启动，请问还有哪里可以检查的吗