Import omni.isaac.imu_sensor fail

[fzg7919]

useing python api: import omni.isaac.imu_sensor fail , i am sure the extension/imu_sensor is on, and i found imu.issac.imu_sensor under isaac_sim-2021.2.1/exts folder . here are the logs:

narwal@sz-0203062590:~/.local/share/ov/pkg/isaac_sim-2021.2.1$ ./python.sh
Python 3.7.12 (default, Sep 17 2021, 23:13:24)
[GCC 7.3.1 20180303 (Red Hat 7.3.1-5)] on linux
Type “help”, “copyright”, “credits” or “license” for more information.

import omni.isaac.imu_sensor
terminate called after throwing an instance of ‘pybind11::error_already_set’
what(): SystemError: <built-in method contains of dict object at 0x7f5515439910> returned a result with an error set
./python.sh: line 43: 792857 Aborted (core dumped) $python_exe $@ $args

[fzg7919]

narwal@sz-0203062590:~/.local/share/ov/pkg/isaac_sim-2021.2.1$ ./python.sh
Python 3.7.12 (default, Sep 17 2021, 23:13:24)
[GCC 7.3.1 20180303 (Red Hat 7.3.1-5)] on linux
Type “help”, “copyright”, “credits” or “license” for more information.

_is = _imu_sensor.acquire_imu_sensor_interface()
Traceback (most recent call last):
File “”, line 1, in
NameError: name ‘_imu_sensor’ is not defined
from omni.isaac.imu_sensor import _imu_sensor
_is = _imu_sensor.acquire_imu_sensor_interface()
Traceback (most recent call last):
File “”, line 1, in
RuntimeError: Failed to acquire interface: omni::isaac::imu_sensor::struct IMUSensor (pluginName: nullptr)

[fzg7919]

can not acquire the imu interface

[toni.sm]

Hi @fzg7919

Please, check this post:

Omni Kit Error - Isaac Sim Implementation

Hi @asibarra98 You need to launch a SimulationApp instance before importing those modules. Cite from SimulationApp docstring: Omniverse loads various plugins at runtime which cannot be imported unless the Toolkit is already running. Thus, it is necessary to launch the Toolkit first from your python application and then import everything else. If you check the examples the modules are imported after kit execution, such as: ... kit = SimulationApp(launch_config=CONFIG) from omni.isaac.core.…

You can import it as follow:

from omni.isaac.kit import SimulationApp
kit = SimulationApp({"headless": True})

from omni.isaac.imu_sensor import _imu_sensor
_is = _imu_sensor.acquire_imu_sensor_interface()

Also, check the SimulationApp doc:

https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html

[fzg7919]

I have run the isaacsim from omniver_launcher and start the simulation, do i need the code ‘from omni.isaac.kit import SimulationApp
kit = SimulationApp({“headless”: True})’ ?

[fzg7919]

yes, i works ! thanks ! it will launch a isaacsim from pure python , but can i run isaacsim from omniverse manually and use python api such as omni.isaac.imu_sensor to get imu msg from the isaacsim ?

[toni.sm]

@fzg7919

but can i run isaacsim from omniverse manually and use python api such as omni.isaac.imu_sensor to get imu msg from the isaacsim ?

Yes, you can use the imu_sensor API from the Script Editor or from a user extension in a running Isaac Sim… Just make sure the extension is enabled

[fzg7919]

can you tell me more details about ’ imu_sensor API from the Script Editor or from a user extension in a running Isaac Sim’ ?? I run isaacsim from omniverse , and use python.exe from kit to run the python scripts of 'from omni.isaac.imu_sensor import _imu_sensor
_is = _imu_sensor.acquire_imu_sensor_interface() ’ it show the erros : ‘Traceback (most recent call last):
File “”, line 1, in
RuntimeError: Failed to acquire interface: omni::isaac::imu_sensor::struct IMUSensor (pluginName: nullptr)’ ; maybe the problem is in the external python scripts , it can not find the kit application of the running isaacsim , so it fails

[toni.sm]

Hi @fzg7919

If you want to run Python scripts (in pure Python mode)… as described in 4. Python Environment Installation — Omniverse Robotics documentation (./python.sh path/to/script.py) you need to instantiate the SimulationApp class to “load various plugins at runtime which cannot be imported unless the Toolkit is already running” (Simulation Application [omni.isaac.kit] — isaac_sim 2022.1.1-release.1 documentation and Python Environment — Omniverse Robotics documentation)

If you are running an Omniverse Isaac Sim GUI environment (from Omniverse Launcher or docker container) you can use the https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gui_script_editor.html#script-editor for debugging and experimenting with the Python code. In this case, you don’t need to create a SimulationApp object, the application is already managing the plugins and extensions. Then, to use the IMU extension, it must be enabled (from the Extensions Manager — Omniverse Create documentation for example), which is done by default…

Also, you can create a user extension and use the IMU sensor from there…
Learn more about extensions here:

• Extensions — kit-sdk 103.1 documentation
• Getting Started: Extensions — kit-sdk 103.1 documentation
• https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_required_workflows.html?highlight=extension%20manager#getting-started

[fzg7919]

okay !!! Thank you very much !! Your answer solved my confuse !! Thanks again!!!