I’m following this example Frequently Used Python Snippets — Omniverse Robotics documentation. It works fine but if I change the for loop (from line 62 to 75) with the following code:
for i in range(10):
world.step(render=True, step_sim=True)
write_rgb_data(rgb_annot.get_data(), f"{out_dir}/Cube_{i}_step_rgb")
It throws several errors:
Traceback (most recent call last):
File "example.py", line 73, in <module>
write_rgb_data(rgb_annot.get_data(), f"{out_dir}/Cube_{i}_step_rgb")
File "example.py", line 21, in write_rgb_data
*rgb_data.shape, -1
ValueError: cannot reshape array of size 0 into shape (0,0,4,newaxis)
2023-05-05 10:42:24 [46,063ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,063ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,063ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,063ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,063ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,064ms] [Warning] [omni.usd] Warning: in operator() at line 95 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyFunction.h -- Tried to call a method on an expired python instance
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Warning] [omni.usd] Warning: in operator() at line 95 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyFunction.h -- Tried to call a method on an expired python instance
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,065ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,066ms] [Warning] [omni.usd] Warning: in operator() at line 95 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyFunction.h -- Tried to call a method on an expired python instance
2023-05-05 10:42:24 [46,066ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,066ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,066ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,066ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,066ms] [Error] [omni.usd] TF_PYTHON_EXCEPTION: in TfPyConvertPythonExceptionToTfErrors at line 114 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyError.cpp -- Tf Python Exception
2023-05-05 10:42:24 [46,066ms] [Warning] [omni.usd] Warning: in operator() at line 95 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/base/tf/pyFunction.h -- Tried to call a method on an expired python instance
2023-05-05 10:42:24 [46,226ms] [Warning] [carb.audio.context] 1 contexts were leaked
/home/federico/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 2315329 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python
It can’t render the image (it renders a 0x0x4 image).
It also raise a segmentation fault.
I solved it with a warmup:
for _ in range(5):
world.step(render=True, step_sim=True)
for i in range(10):
world.step(render=True, step_sim=True)
write_rgb_data(rgb_annot.get_data(), f"{out_dir}/Cube_{i}_step_rgb")
I don’t know why this works. Moreover I encountered a couple of problems:
- it is not clear how many warmup steps are needed
- sometimes the behavoiur is not deterministic, for example with 3 warmup steps, sometimes it works and sometimes it throws the errors shows above
I’m using Isaac 2022.2.1.