Isaac Sim Version
4.2.0
Operating System
Ubuntu 22.04
GPU Information
- Model: NVIDIA RTX A500
- Driver Version: 550.120
Error in ‘pxrInternal_v0_22__pxrReserved__::UsdPrim::_ApplyAPI’ at line 450 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/prim.cpp : ‘Invalid prim ‘null prim’’
Description
I am getting this error. I am trying to generate synthetic dataset for wooden pallet and I am following Pose estimation dataset generation tutorial. I have made changes in posegeneration.py and dope_config.yaml and test_dope_config.yaml.
def _setup_train_objects(self):
# Add the part to train the network on
train_part_idx = 0
for object in OBJECTS_TO_GENERATE:
for prim_idx in range(object["num"]):
part_name = "pallet"
ref_path = "/home/kick/Downloads/wooden_pallet_models/pallet.usdz"
print("\n" + "\n" + "\n" + ref_path + "\n" + "\n")
prim_type = f"_{part_name[1:]}"
print("\n" + "\n" + "\n" + prim_type + "\n" + "\n")
if self.writer_helper == YCBVideoWriter and prim_type not in config_data["CLASS_NAME_TO_INDEX"]:
raise Exception(f"Train object {prim_type} is not in CLASS_NAME_TO_INDEX in config.yaml.")
path = "/World/" + prim_type
mesh_path = path + "/" + prim_type
name = "train_part"
self.train_part_mesh_path_to_prim_path_map[mesh_path] = path
train_part = DynamicObject(
usd_path=ref_path,
prim_path="/World/_allet",
mesh_path="/World/_allet/Meshes",
name=name,
position=np.array([0.0, 0.0, 0.0]),
scale=config_data["TRAIN_PART_SCALE"],
mass=1.0,
)
train_part.prim.GetAttribute("physics:rigidBodyEnabled").Set(False)
self.train_parts.append(train_part)
# Add semantic information
mesh_prim = world.stage.GetPrimAtPath(mesh_path)
add_update_semantics(mesh_prim, prim_type)
train_part_idx += 1
if prim_idx == 0 and self.writer_helper == YCBVideoWriter:
# Save the vertices of the part in '.xyz' format. This will be used in one of PoseCNN's loss functions
coord_prim = world.stage.GetPrimAtPath(path)
self.writer_helper.save_mesh_vertices(mesh_prim, coord_prim, prim_type, self._output_folder)
Error Messages
Traceback (most recent call last):
File "/home/kick/.local/share/ov/pkg/isaac-sim-4.2.0/standalone_examples/replicator/pose_generation/synthetic-dataset-generate-pallet.py", line 564, in <module>
dataset = RandomScenario(
File "/home/kick/.local/share/ov/pkg/isaac-sim-4.2.0/standalone_examples/replicator/pose_generation/synthetic-dataset-generate-pallet.py", line 168, in __init__
self._setup_world()
File "/home/kick/.local/share/ov/pkg/isaac-sim-4.2.0/standalone_examples/replicator/pose_generation/synthetic-dataset-generate-pallet.py", line 205, in _setup_world
self._setup_train_objects()
File "/home/kick/.local/share/ov/pkg/isaac-sim-4.2.0/standalone_examples/replicator/pose_generation/synthetic-dataset-generate-pallet.py", line 427, in _setup_train_objects
add_update_semantics(mesh_prim, prim_type)
File "/home/kick/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/utils/semantics.py", line 31, in add_update_semantics
semantic_api = Semantics.SemanticsAPI.Apply(prim, "Semantics" + suffix)
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved__::UsdPrim::_ApplyAPI' at line 450 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/prim.cpp : 'Invalid prim 'null prim''
Files
If I am doing something wrong please tell me and help me in this matter.
