Realistic robot simulation and RL training before real-world deployment
| Symptom | Cause | Fix |
|---|---|---|
| Isaac Sim compilation fails | GCC/G++ 11 is not the default compiler | Install and select gcc-11/g++-11 (Instructions Step 1); confirm with gcc --version and g++ --version |
| Isaac Sim does not start | Missing or unresolved libgomp.so.1 | export LD_PRELOAD="$LD_PRELOAD:/lib/aarch64-linux-gnu/libgomp.so.1" before launching |
| Build fails after a previous attempt | Stale build cache from an older installation | Remove the .cache folder under the Isaac Sim repository and rebuild |
| Isaac Lab does not start | Missing or unresolved libgomp.so.1 | export LD_PRELOAD="$LD_PRELOAD:/lib/aarch64-linux-gnu/libgomp.so.1" before launching |
./isaaclab.sh: No such file or directory | Isaac Lab was cloned from a branch that no longer provides the launcher | Check out the pinned Isaac Lab 3.0 revision and initialize its submodules using Instructions Step 6 |
scripts/reinforcement_learning/rsl_rl/train.py is missing, or the old H1 task name is not found | Isaac Lab 3.0 uses the train subcommand and the task name Isaac-Velocity-Rough-H1 | Use the Step 9 commands with ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Velocity-Rough-H1 physics=isaacsim_physx and the desired --viz mode |
ModuleNotFoundError: No module named 'omni.physics.tensors.impl' during training | Isaac Lab and Isaac Sim versions may not match, or the Isaac Sim environment is not loaded | Confirm Isaac Sim v6.2.0 (Step 2), the pinned Isaac Lab 3.0 revision (Step 6), and the _isaac_sim link (Step 7), then reinstall and run through ./isaaclab.sh |
| Symlink to Isaac Sim is broken | ISAACSIM_PATH unset or points at the wrong release directory | Re-export ISAACSIM_PATH to ${PWD}/_build/linux-aarch64/release from the Isaac Sim tree, then recreate _isaac_sim (Instructions Steps 4 and 7) |
For latest known issues, see the documentation linked under Resources for your hardware platform.