I successfully get lidar data to use ‘self.lidarInterface = _range_sensor.acquire_lidar_sensor_interface()’.
However, when I change ‘headless=True’ to not showing the window, it comes an import error: can’t from omni.isaac.range_sensor import _range_sensor
Do you know what’s going wrong?
Sorry your having this trouble!
Your acquire call should be after the creation of the SimulationApp, is it?
I would have to get a repo from you on this, so if you have the code snippet that is failing, or the simplest one you can make that has the same fail, post it here and maybe I can help more.
1 Like
Hi, thanks a lot for help!
You’re right, after the creation for SimulationApp, I came out this error. More specifically, my Isaac sim version is 2022.2.1, and I edit my code on basis of ‘6. Custom RL Example using Stable Baselines’. In cartpole_task.py, here’s my import code:
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.tasks.base_task import BaseTask
from omni.isaac.core.articulations import ArticulationView
from omni.isaac.core.utils.prims import create_prim
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.core.objects import DynamicCuboid
from omni.isaac.core.objects import VisualCuboid
from omni.isaac.core.objects import FixedCuboid
from omni.isaac.core.utils.rotations import euler_angles_to_quat
from omni.isaac.core.materials import PhysicsMaterial
from omni.physx import get_physx_scene_query_interface
from pxr import UsdGeom, Gf, Vt
from omni.isaac.range_sensor import _range_sensor # Imports the python bindings to interact with lidar sensor
Strangely, in vscode interface, I can only import libraries related to ‘omni.isaac.core’, while the others will report missing imports. Here’s what show in my vscode interface:
And in train.py, here’s the code:
from omni.isaac.gym.vec_env import VecEnvBase
env = VecEnvBase(headless=True)
from any_goal import CarTask
task = CarTask(name=“Car”)
env.set_task(task, backend=“torch”)
from stable_baselines3 import PPO
I can run train.py if I set ‘env = VecEnvBase(headless=False)’ to successfully get the lidar data. In addition, I can also run train.py when headless=True but without importing _range_sensor. If I use headless=True and import _range_sensor, it will come an import error.
Here’s the log:
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.isaac.kit.app_framework'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Starting kit application with the following args: ['/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/apps/omni.isaac.sim.python.gym.headless.kit', '--/app/tokens/exe-path=/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts', '--ext-folder', '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/apps', '--/physics/cudaDevice=0', '--portable', '--no-window']
Passing the following args to the base kit application: []
[Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[Info] [carb] Logging to file: /home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230520_105831.log
2023-05-20 02:58:31 [20ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.lidar' or '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.lidar/config'
2023-05-20 02:58:31 [20ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.radar] Extensions config 'extension.toml' doesn't exist '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.radar' or '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.radar/config'
[0.195s] [ext: omni.stats-0.0.0] startup
[0.199s] [ext: omni.rtx.shadercache-1.0.0] startup
[0.201s] [ext: omni.assets.plugins-0.0.0] startup
[0.201s] [ext: omni.gpu_foundation-0.0.0] startup
[0.206s] [ext: carb.windowing.plugins-1.0.0] startup
[0.211s] [ext: omni.kit.renderer.init-0.0.0] startup
2023-05-20 02:58:31 [533ms] [Warning] [carb.graphics-vulkan.plugin] No command queue family supports flags: 0x100, queue type: 3. No queues of this type will be created
2023-05-20 02:58:31 [542ms] [Warning] [gpu.foundation.plugin] Raytracing is not supported on GPU: 0. Skipping this device.
|---------------------------------------------------------------------------------------------|
| Driver Version: 525.116.03 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
|---------------------------------------------------------------------------------------------|
| 0 | Intel(R) UHD Graphics 770 (ADL.. | | | 96382 MB | 8086 | 0 |
| | | | | | 4680 | 90f18cfd.. |
|---------------------------------------------------------------------------------------------|
| 1 | NVIDIA GeForce RTX 3090 | Yes: 0 | | 24822 MB | 10de | 0 |
| | | | | | 2204 | f1f7cefa.. |
|=============================================================================================|
| OS: Linux lzl-Precision-3660, Version: 5.19.0-41-generic
| Processor: 12th Gen Intel(R) Core(TM) i9-12900K | Cores: Unknown | Logical: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 128510 | Free Memory: 88708
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
[0.819s] [ext: omni.kit.pipapi-0.0.0] startup
[0.821s] [ext: omni.kit.pip_archive-0.0.0] startup
[0.824s] [ext: omni.kit.loop-isaac-1.0.0] startup
[0.824s] [ext: omni.kit.async_engine-0.0.0] startup
[0.825s] [ext: omni.kit.test-0.0.0] startup
[0.844s] [ext: omni.usd.config-1.0.0] startup
[0.847s] [ext: omni.usd.libs-1.0.0] startup
[0.962s] [ext: omni.isaac.core_archive-2.0.1] startup
[0.968s] [ext: omni.pip.torch-1_13_1-0.1.4] startup
[0.969s] [ext: omni.isaac.ml_archive-1.1.0] startup
[0.969s] [ext: omni.client-0.1.1] startup
[0.976s] [ext: omni.appwindow-1.0.1] startup
[0.977s] [ext: omni.kit.renderer.core-0.0.0] startup
[0.980s] [ext: omni.kit.renderer.capture-0.0.0] startup
[0.981s] [ext: omni.kit.renderer.imgui-0.0.0] startup
[1.026s] [ext: carb.audio-0.1.0] startup
[1.028s] [ext: omni.ui-2.14.4] startup
[1.036s] [ext: omni.uiaudio-1.0.0] startup
[1.036s] [ext: omni.kit.mainwindow-1.0.0] startup
[1.037s] [ext: omni.kit.uiapp-0.0.0] startup
[1.037s] [ext: omni.usd.schema.physics-1.0.0] startup
[1.067s] [ext: omni.usd.schema.geospatial-0.0.0] startup
[1.071s] [ext: omni.usd.schema.audio-0.0.0] startup
[1.074s] [ext: omni.usd.schema.anim-0.0.0] startup
[1.111s] [ext: omni.usd.schema.semantics-0.0.0] startup
[1.114s] [ext: omni.usd.schema.physx-0.0.0] startup
[1.133s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[1.139s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[1.144s] [ext: omni.kit.window.popup_dialog-2.0.16] startup
[1.147s] [ext: omni.kit.actions.core-1.0.0] startup
[1.148s] [ext: omni.kit.widget.nucleus_connector-1.0.3] startup
[1.150s] [ext: omni.kit.commands-1.4.5] startup
[1.152s] [ext: omni.gpucompute.plugins-0.0.0] startup
[1.153s] [ext: omni.usd.core-1.0.4] startup
[1.156s] [ext: omni.timeline-1.0.5] startup
[1.157s] [ext: omni.hydra.scene_delegate-0.3.0] startup
[1.163s] [ext: omni.kit.audiodeviceenum-1.0.0] startup
[1.164s] [ext: omni.hydra.usdrt_delegate-4.3.2] startup
[1.181s] [ext: omni.graph.tools-1.17.2] startup
[1.193s] [ext: omni.usd-1.6.30] startup
[1.233s] [ext: omni.kit.collaboration.channel_manager-1.0.9] startup
[1.234s] [ext: omni.kvdb-0.0.0] startup
[1.236s] [ext: omni.kit.usd.layers-2.0.11] startup
[1.243s] [ext: omni.kit.menu.utils-1.4.7] startup
[1.251s] [ext: omni.localcache-0.0.0] startup
[1.252s] [ext: omni.kit.primitive.mesh-1.0.8] startup
[1.255s] [ext: omni.convexdecomposition-104.2.4-5.1] startup
[1.256s] [ext: omni.kit.stage_templates-1.1.13] startup
[1.258s] [ext: omni.kit.usd_undo-0.1.2] startup
[1.258s] [ext: omni.graph.core-2.65.4] startup
[1.262s] [ext: omni.usdphysics-104.2.4-5.1] startup
[1.265s] [ext: omni.graph-1.50.2] startup
/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/exts/omni.graph/omni/graph/core/_impl/autonode/type_definitions.py:12: DeprecationWarning: `np.float` is a deprecated alias for the builtin `float`. To silence this warning, use `float` by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use `np.float64` here.
Deprecated in NumPy 1.20; for more details and guidance: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations
Float = NewType("Float", np.float)
[1.302s] [ext: omni.physx-104.2.4-5.1] startup
[1.334s] [ext: omni.kit.numpy.common-0.1.0] startup
[1.336s] [ext: omni.graph.nodes-1.48.3] startup
[1.348s] [ext: omni.isaac.dynamic_control-1.2.3] startup
[1.357s] [ext: omni.isaac.kit-1.4.1] startup
[1.357s] [ext: omni.kit.widget.path_field-2.0.4] startup
[1.358s] [ext: omni.kit.search_core-1.0.2] startup
[1.359s] [ext: omni.kit.widget.browser_bar-2.0.5] startup
[1.360s] [ext: omni.kit.widget.filebrowser-2.3.10] startup
[1.369s] [ext: omni.kit.widget.versioning-1.3.8] startup
[1.371s] [ext: omni.kit.notification_manager-1.0.5] startup
[1.373s] [ext: omni.iray.libs-0.0.0] startup
[1.376s] [ext: omni.kit.window.filepicker-2.7.15] startup
[1.411s] [ext: omni.ui_query-1.1.1] startup
[1.411s] [ext: omni.mdl.neuraylib-0.1.0] startup
[1.413s] [ext: omni.kit.window.file_importer-1.0.10] startup
[1.414s] [ext: omni.kit.ui_test-1.2.9] startup
[1.416s] [ext: omni.mdl-0.1.0] startup
[1.447s] [ext: omni.kit.widget.zoombar-1.0.4] startup
[1.448s] [ext: omni.kit.widget.searchfield-1.0.10] startup
[1.449s] [ext: omni.kit.material.library-1.3.21] startup
/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/kernel/py/omni/kit/app/_impl/__init__.py:104: DeprecationWarning: Using or importing the ABCs from 'collections' instead of from 'collections.abc' is deprecated since Python 3.3,and in 3.9 it will stop working
if not isinstance(setting_py, str) and isinstance(setting_py, collections.Sequence):
[1.453s] [ext: omni.kit.browser.core-2.2.2] startup
[1.457s] [ext: omni.kit.window.file_exporter-1.0.10] startup
[1.457s] [ext: omni.physics.tensors-0.1.0] startup
[1.463s] [ext: omni.kit.browser.folder.core-1.7.3] startup
[1.466s] [ext: omni.kit.window.file-1.3.32] startup
[1.467s] [ext: omni.physx.tensors-0.1.0] startup
[1.472s] [ext: omni.isaac.version-1.0.0] startup
[1.473s] [ext: omni.kit.browser.sample-1.2.5] startup
[1.474s] [ext: omni.isaac.cloner-0.4.1] startup
[1.475s] [ext: omni.isaac.core-1.46.3] startup
[2.063s] [ext: omni.warp-0.6.3] startup
Warp 0.6.3 initialized:
CUDA Toolkit: 11.5, Driver: 12.0
Devices:
"cpu" | x86_64
"cuda:0" | NVIDIA GeForce RTX 3090 (sm_86)
Kernel cache: /home/lzl/.cache/warp/0.6.3
[2.267s] [ext: omni.kit.window.title-1.1.2] startup
[2.268s] [ext: omni.isaac.gym-0.3.3] startup
[2.268s] [ext: omni.isaac.sim.python.gym.headless-2022.2.1] startup
[2.268s] Simulation App Starting
[2.618s] app ready
[2.642s] Simulation App Startup Complete
Traceback (most recent call last):
File "train_any.py", line 4, in <module>
from any_goal import CarTask
File "/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.core/any_goal.py", line 14, in <module>
from omni.isaac.range_sensor import _range_sensor # Imports the python bindings to interact with lidar sensor
ModuleNotFoundError: No module named 'omni.isaac.range_sensor'
2023-05-20 02:58:33 [2,806ms] [Warning] [carb.audio.context] 1 contexts were leaked
/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: in 41 lines： 321830 error
$python_exe "$@" $args
There was an error running python
And here is a normal log when I use headless=False:
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.isaac.kit.app_framework'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Starting kit application with the following args: ['/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts', '--ext-folder', '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application: []
[Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[Info] [carb] Logging to file: /home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230520_110134.log
2023-05-20 03:01:34 [18ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.lidar' or '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.lidar/config'
2023-05-20 03:01:34 [18ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.radar] Extensions config 'extension.toml' doesn't exist '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.radar' or '/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.radar/config'
[0.195s] [ext: omni.stats-0.0.0] startup
[0.205s] [ext: omni.rtx.shadercache-1.0.0] startup
[0.208s] [ext: omni.assets.plugins-0.0.0] startup
[0.209s] [ext: omni.gpu_foundation-0.0.0] startup
[0.213s] [ext: carb.windowing.plugins-1.0.0] startup
[0.219s] [ext: omni.kit.renderer.init-0.0.0] startup
2023-05-20 03:01:34 [545ms] [Warning] [carb.graphics-vulkan.plugin] No command queue family supports flags: 0x100, queue type: 3. No queues of this type will be created
2023-05-20 03:01:34 [554ms] [Warning] [gpu.foundation.plugin] Raytracing is not supported on GPU: 0. Skipping this device.
|---------------------------------------------------------------------------------------------|
| Driver Version: 525.116.03 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
|---------------------------------------------------------------------------------------------|
| 0 | Intel(R) UHD Graphics 770 (ADL.. | | | 96382 MB | 8086 | 0 |
| | | | | | 4680 | 90f18cfd.. |
|---------------------------------------------------------------------------------------------|
| 1 | NVIDIA GeForce RTX 3090 | Yes: 0 | | 24822 MB | 10de | 0 |
| | | | | | 2204 | f1f7cefa.. |
|=============================================================================================|
| OS: Linux lzl-Precision-3660, Version: 5.19.0-41-generic
| Processor: 12th Gen Intel(R) Core(TM) i9-12900K | Cores: Unknown | Logical: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 128510 | Free Memory: 88560
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
[0.850s] [ext: omni.kit.pipapi-0.0.0] startup
[0.855s] [ext: omni.kit.pip_archive-0.0.0] startup
[0.865s] [ext: omni.kit.loop-isaac-1.0.0] startup
[0.865s] [ext: omni.kit.async_engine-0.0.0] startup
[0.866s] [ext: omni.kit.test-0.0.0] startup
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[0.889s] [ext: omni.usd.libs-1.0.0] startup
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[1.175s] [ext: omni.usd.schema.physics-1.0.0] startup
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[1.240s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
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[1.324s] [ext: omni.gpucompute.plugins-0.0.0] startup
[1.325s] [ext: omni.timeline-1.0.5] startup
[1.326s] [ext: omni.kit.search_core-1.0.2] startup
[1.327s] [ext: omni.hydra.scene_delegate-0.3.0] startup
[1.333s] [ext: omni.kit.widget.path_field-2.0.4] startup
[1.336s] [ext: omni.kit.widget.filebrowser-2.3.10] startup
[1.346s] [ext: omni.kit.widget.browser_bar-2.0.5] startup
[1.347s] [ext: omni.kit.window.popup_dialog-2.0.16] startup
[1.349s] [ext: omni.kit.actions.core-1.0.0] startup
[1.351s] [ext: omni.usd.core-1.0.4] startup
[1.354s] [ext: omni.kit.audiodeviceenum-1.0.0] startup
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[1.356s] [ext: omni.kit.commands-1.4.5] startup
[1.359s] [ext: omni.hydra.usdrt_delegate-4.3.2] startup
[1.375s] [ext: omni.kit.notification_manager-1.0.5] startup
[1.379s] [ext: omni.usd-1.6.30] startup
[1.417s] [ext: omni.kit.widget.versioning-1.3.8] startup
[1.419s] [ext: omni.iray.libs-0.0.0] startup
[1.422s] [ext: omni.kit.window.filepicker-2.7.15] startup
[1.462s] [ext: omni.mdl.neuraylib-0.1.0] startup
[1.464s] [ext: omni.kit.collaboration.channel_manager-1.0.9] startup
[1.465s] [ext: omni.kit.window.file_importer-1.0.10] startup
[1.466s] [ext: omni.mdl-0.1.0] startup
[1.501s] [ext: omni.kit.usd.layers-2.0.11] startup
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if not isinstance(setting_py, str) and isinstance(setting_py, collections.Sequence):
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Deprecated in NumPy 1.20; for more details and guidance: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations
Float = NewType("Float", np.float)
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Warp 0.6.3 initialized:
CUDA Toolkit: 11.5, Driver: 12.0
Devices:
"cpu" | x86_64
"cuda:0" | NVIDIA GeForce RTX 3090 (sm_86)
Kernel cache: /home/lzl/.cache/warp/0.6.3
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2023-05-20 03:01:37 [2,895ms] [Warning] [omni.ext.plugin] [ext: omni.isaac.sensor-5.6.3] Native plugin search dir contains several files: /home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.sensor/bin . It makes dir walk slow, replace with the exact path to the plugin instead of a wildcard.
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/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.core_archive/pip_prebundle/numba/core/types/__init__.py:108: DeprecationWarning: `np.long` is a deprecated alias for `np.compat.long`. To silence this warning, use `np.compat.long` by itself. In the likely event your code does not need to work on Python 2 you can use the builtin `int` for which `np.compat.long` is itself an alias. Doing this will not modify any behaviour and is safe. When replacing `np.long`, you may wish to use e.g. `np.int64` or `np.int32` to specify the precision. If you wish to review your current use, check the release note link for additional information.
Deprecated in NumPy 1.20; for more details and guidance: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations
long_ = _make_signed(np.long)
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[3.649s] Simulation App Starting
[6.175s] app ready
[6.255s] RTX ready
[6.343s] Simulation App Startup Complete
/home/lzl/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/lib/python3.7/site-packages/gym/spaces/box.py:84: UserWarning: WARN: Box bound precision lowered by casting to float32
logger.warn(f"Box bound precision lowered by casting to {self.dtype}")
2023-05-20 03:01:44 [10,387ms] [Warning] [carb.flatcache.plugin] getTypes called on non-existent path /World/cube/chassis/Lidar
Using cuda:0 device
Wrapping the env with a `Monitor` wrapper
Wrapping the env in a DummyVecEnv.
Logging to ./any_tensorboard/PPO_46
I would be greatly appreciated if you can help my solve the bug.
Hi, are you still there?
I believe this bug has been fixed in IsaacSim 2023.1.0
I’m afraid I’m still experiencing the same issue. I can do the following before any other imports:
from omni.isaac.core.utils.extensions import enable_extension
enable_extension("omni.isaac.sensor")
enable_extension("omni.isaac.range_sensor")
enable_extension("omni.isaac.occupancy_map")
But then I run into failure of creating the lidar, as detailed here:
, as detailed here: Lidar fails in omni.isaac.sim.python.gym.headless.render.kit mode
This is using the last isaac version 4.1.0 and isaac lab.