Hey there when I enable omni.anim.skelJoint in /isaac-sim/apps/omni.isaac.sim.python.kit in the container nvcr.io/nvidia/isaac-sim:4.1.0 we get a segfault crash.
log:
Data Generation.txt (178.9 KB)
To cause a crash, load and scatter any ActorCore human asset with enabled omni.anim.skelJoint
Related issue: Omni.anim.xform_constraints no longer available for Isaac / Composer - #16 by Turowicz
dump file:
bd7a905a-c28b-44fb-64a819a4-cfdc2b43.dmp.zip (397.0 KB)
Seems like this extension doesn’t work at all in the nvcr.io/nvidia/isaac-sim:4.1.0
I’ll get some eyeballs on this today. Thanks for the logs/dmp.
Please do as this is crucial to what we are trying to do.
Seems this only happens when running replicator with skeljoint enabled. Both in Isaac container and desktop app. If the scene has any reference to any particular bone or joint, there is a crash.
Referencing a bone in ActionGraph OR placing an xform under a bone/joint with skeljoint enabled causes a crash during replicator step specifically.
@pcallender @jlafleche @dennis.lynch here is a reproduction scenario. Crashes 100% of the time both desktop and container:
# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
# !!! Ensure you enabled the "omni.anim.skelJoint" extension before running !!!
# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
import omni.replicator.core as rep
SKY = "https://omniverse-content-production.s3.us-west-2.amazonaws.com/Environments/2024_1/DomeLights/Dynamic/CumulusLight.usd"
WORKER = "https://omniverse-content-production.s3.us-west-2.amazonaws.com/Assets/Characters/Reallusion/Worker/Props/Worker.usd"
rep.create.from_usd(usd=SKY)
rep.create.plane(scale=500,position=[0,0,0],semantics=[("class","floor")])
floor = lambda : rep.get.prims(semantics=[("class", "floor")])
with rep.trigger.on_frame(max_execs=50, rt_subframes=5):
with rep.randomizer.instantiate(paths=[WORKER],size=1,mode="reference"):
rep.modify.pose(rotation=rep.distribution.uniform([0, 0, -180],[0, 0, 180]))
rep.randomizer.scatter_2d(surface_prims=floor(),check_for_collisions=True)
Hi, I’m working on getting to the bottom of this crash issue. In the meantime, I found that if you save the worker.usd file locally (or perhaps on the cloud) as a flattened version (.usda) it does not crash. Let me know if this workaround helps - we will get to the bottom of this regardless, there should not be any crashes.
-H
No luck with the workaround, here’s what I tried for both Save as Flattened -> *.usda and Safe As -> *.usda
- On local nucleus → both crash on first replicator step.
- On local disk (Desktop folder) → both crash on first replicator step.
- Desktop app → all above combinations crash on first replicator step.
- Container → all above combinations crash on first replicator step.
I also tried other ActorCore assets, nothing seems to work…
@hclever Did you tell the replicator to execute any steps? I get a crash on first replicator step, not on load.
yes - I clicked run and then Replicator → start. It did not crash when I pointed it to a flattened, locally saved Worker.usda. I’ll look more into it today.
If it makes any difference, I am clicking Replicator → Step.
Also, I’m on Ubuntu.
Hmm. I don’t see any issue when I run my usda file from isaac sim 4.1.0 on the launcher. But it does crash with the .usd. Can you try with my attached usda? I had to zip it to upload here so make sure you unzip when you point to it.
Also see screenshot, i clicked step multiple times and there is no issue.
worker.zip (3.2 MB)
checking…
It does not crash, but…
its definitely different from the one I have as it also references paths that are unavailable to me:
2024-08-22 14:46:41 [222,623ms] [Error] [omni.usd] [Watcher] Failed to resolve USD Asset Identifier 'omniverse://isaac-dev.ov.nvidia.com/NVIDIA/Assets/Characters/Reallusion/Worker/Materials/OmniRL_PBR.mdl' from prim '/Replicator/SampledAssets/Population_0a96b676/Ref_Xform_0/Ref/CC_Base_Body/CC_Base_Body/CC_Base_Body/Std_Skin_Head/Material/Shader'
Here is how I do it on the publicly available one and I get a crash:
Hm . can you try with this one? the one i sent you did have reference paths unavaialble, but I believe the one I am attaching here should be OK on your end and it does not crash for me.
Worker_s3.zip (3.2 MB)
Previous one didn’t crash either, but that doesn’t help at all unfortunately. I have 50 human assets from actor core that I need to get working. So far your conversion method has failed for me. Please watch the video above and tell me what am I doing wrong.
I need to learn how you convert so I can go through my library and “fix” them.
Thanks in advance!