Hi,
When I try to get the point cloud data, I have a problem using cameras with replicator at version 2023.1.1.
The file torch_ur5e_reaching_target_pcd_ppo.py from the below attachment works well on Isaac Sim 2023.1.0-hotfix.1, but not on Isaac Sim 2023.1.1. (You can check with unzip the file below at the same level of omniisaacgymenvs at OmniIsaacGymEnvs)
ur5e_reaching_target_pcd_ppo.zip (12.5 MB)
reaching_target_pcd_log.txt (34.0 KB)
The camera did not create well after creating the scene. Especially, the log said as the text below.
2024-02-26 05:16:09 [10,308ms] [Error] [omni.kit.app._impl] [py stderr]: /home/bak/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/ogn/python/_impl/nodes/OgnSampleUniform.py:56: UserWarning: Expected inputs:num_samples to be greater than 0 but instead received 0
warnings.warn(f"Expected inputs:num_samples to be greater than 0 but instead received {num_samples}")
/home/bak/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/ogn/python/_impl/nodes/OgnSampleUniform.py:56: UserWarning: Expected inputs:num_samples to be greater than 0 but instead received 0
warnings.warn(f"Expected inputs:num_samples to be greater than 0 but instead received {num_samples}")
2024-02-26 05:16:10 [10,811ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/robot/wrist_3_link/visuals.proto_mesh_0_id0 that has not been populated
2024-02-26 05:16:10 [10,904ms] [Error] [asyncio] Task exception was never retrieved
future: <Task finished name='Task-416' coro=<Writer.__attach_async() done, defined at /home/bak/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/writers.py:418> exception=ValueError('Unable to get camera path from omni.replicator.core.create.camera')>
Traceback (most recent call last):
File "/home/bak/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/writers.py", line 422, in __attach_async
render_products_results = [rp.result() if asyncio.isfuture(rp) else rp for rp in render_products]
File "/home/bak/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/writers.py", line 422, in <listcomp>
render_products_results = [rp.result() if asyncio.isfuture(rp) else rp for rp in render_products]
File "/home/bak/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/create.py", line 1363, in get_camera_paths_async
raise ValueError(f"Unable to get camera path from {camera}")
ValueError: Unable to get camera path from omni.replicator.core.create.camera
When it works well on the hotfix version, the camera path is created automatically. I tried to input a specific camera path on self.rep.create.camera at the 2023.1.1 but it did not work.
I think there is a problem with replicator and omnigraph related modules using the arguments. I checked the difference between the hotfix version and 2023.1.1 with debug mode and, they are not the same when creating camera instances. (I cannot understand about deeper inside structure.)