Isaac Sim - People Simulation broken in 4.1.0

Omniverse Isaac Sim
1

Hi,
I was updating the Pegasus Simulator for Isaac Sim 4.1.0 and the simulation of people moving around stopped working. In the latest Isaac Sim, I get a new warning:
[omni.anim.graph.core.plugin] getCharacter - /World/Characters/person2/ManRoot/female_adult_business_02 is not a SkelRoot prim or does not apply AnimationGraphAPI

You check my implementation in https://github.com/PegasusSimulator/PegasusSimulator/blob/main/extensions/pegasus.simulator/pegasus/simulator/logic/people/person.py

I have also noticed that the example ( 3.2.2. Run A Demo Simulation) provided by NVIDIA in the people simulation documentation page is now broken as well:

https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/Documentation/Isaac-Sim-Docs_2022.2.1/isaacsim/latest/ext_omni_anim_people.html

Warnings that we get from following your example:
2024-07-27 13:34:33 [Warning] [omni.graph.core._impl._registration.register_python_ogn] Python import process in omni.anim.graph.core failed - ā€˜NoneTypeā€™ object is not subscriptable. Aborting Python node registration

2024-07-27 13:34:33 [Warning] [omni.graph.io._impl.extension] omni.graph.io is deprecated. Nodes in this extension have been moved to omni.graph.nodes. Update any dependencies accordingly.

Can you provide any hints on a possible fix?

This is a little bit of a bummerā€¦

1 Like
2

Hello, I am having the same issue, waiting for a solutionā€¦

1 Like
3

Hi! I would also appreciate a solution to this problem

1 Like
5

Hello, we are able to reproduce the bug. It happens when omni.anim.graph is enabled after a stage is loaded, and when an animation graph is attached to characters in that same stage (its not reproducible if a new stage is loaded after the extension is enabled). While we fix the issue, could you try the following -

  1. enable omni.anim.people
  2. click on the ā€œAutoLoadā€ button
  3. close the app completely and reopen it
  4. omni.anim.people should be enabled automatically on startup.
  5. Try your people simulation workflow.
  6. You should not see the issue anymore going forward as long as omni.anim.people has ā€˜AutoLoadā€™ on.

Please let us know if still face issues after following the steps above. We will update our docs with a note for the above.

6

Hello again,

First, let me thank you for the quick reply. My main issue is that I want to be able to use omni.anim.people in Isaac Sim standalone applications. I previously created a stripped-down example from my own library that was working, but now it is not. Here is the link to the example: gist link.

In this example, I execute the same steps as one could do manually after launching the regular Isaac Sim, but it seems that even though the graph is applied to the character, it is not actually being applied. It also gives this warning:

2024-07-30 08:33:08 [206,749ms] [Warning] [omni.anim.graph.core.plugin] getCharacter - /World/Characters/female_adult_business_02/female_adult_business_02/ManRoot/female_adult_business_02 is not a SkelRoot prim or does not apply AnimationGraphAPI

This warning does not make sense as this prim is actually a SkelRoot.

Also, when this is running correctly, you should be able to see the human fold down her arms.

Iā€™m available to go through this with you in more detail if needed. You have my contacts here if needed.

Best regards,
Marcelo

7

Could you please try the following in the main function (essentially loads a new stage after the extension is enabled) -

import omni.usd
omni.usd.get_context().new_stage()
# Instantiate the template app
pg_app = PegasusApp()

# Run the application loop
pg_app.run()

We will provide an actual fix with the next release of Isaac-Sim

8

If I do that, I get this crash log:

Starting kit application with the following args:  ['/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/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/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts', '--ext-folder', '/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application:  []
[Info] [carb] Logging to file: /home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/logs/Kit/Isaac-Sim/4.1/kit_20240730_215218.log
2024-07-30 20:52:18 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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2024-07-30 20:52:19 [995ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored):  Logitech USB Receiver Consumer Control [030000006d04000048c5000011010000]
2024-07-30 20:52:19 [995ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored):  Touchscreen passthrough [03000000efbe0000adde000011010000]
[1.004s] [ext: omni.kit.renderer.init-0.0.0] startup

|---------------------------------------------------------------------------------------------|
| Driver Version: 550.90.07     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3090          | Yes: 0 |     | 24822   MB | 10de      | 0          |
|     |                                  |        |     |            | 2204      | 5f1cffd2.. |
|     |                                  |        |     |            | 9         |            |
|=============================================================================================|
| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 6.5.0-45-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: AMD Ryzen 9 5900X 12-Core Processor | Cores: 12 | Logical: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64192 | Free Memory: 57254
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
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Warp 1.2.1 initialized:
   CUDA Toolkit 11.8, Driver 12.4
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     "cpu"      : "x86_64"
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[4.842s] [ext: omni.kit.property.camera-1.0.6] startup
[4.843s] [ext: omni.sensors.nv.lidar-1.2.2-isaac] startup
[4.847s] [ext: omni.sensors.nv.wpm-1.2.1-isaac] startup
[4.849s] [ext: omni.hydra.scene_api-0.1.2] startup
[4.854s] [ext: omni.kit.window.stage-2.5.10] startup
[4.857s] [ext: omni.kit.property.render-1.1.1] startup
[4.859s] [ext: omni.kit.property.light-1.0.8] startup
[4.860s] [ext: omni.sensors.nv.radar-1.2.1-isaac] startup
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[4.869s] [ext: omni.kit.menu.stage-1.2.5] startup
[4.870s] [ext: omni.kit.profiler.window-2.2.1] startup
2024-07-30 20:52:23 [4,864ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[4.895s] [ext: omni.kit.property.bundle-1.2.11] startup
[4.897s] [ext: omni.kit.property.isaac-0.2.3] startup
[4.899s] [ext: omni.isaac.sensor-12.7.1] startup
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[5.037s] [ext: omni.isaac.motion_generation-7.1.0] startup
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[5.210s] [ext: omni.isaac.sim.python-4.1.0] startup
[5.211s] Simulation App Starting
[7.056s] app ready
[8.188s] Simulation App Startup Complete
[8.197s] [ext: omni.isaac.ros2_bridge-2.31.4] startup
[8.243s] Attempting to load system rclpy
[8.269s] rclpy loaded
[8.434s] [ext: omni.anim.behavior.schema-106.0.1] startup
[8.445s] [ext: omni.kit.widget.imageview-1.0.3] startup
[8.445s] [ext: omni.kit.window.quicksearch-2.4.4] startup
[8.449s] [ext: omni.kit.widget.zoombar-1.0.5] startup
[8.450s] [ext: omni.kit.browser.core-2.3.11] startup
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[8.506s] [ext: omni.anim.retarget.core-106.0.1] startup
[8.513s] [ext: omni.anim.graph.core-106.0.6] startup
Warning: Possible version incompatibility. Attempting to load omni::fabric::IPath with version v0.2 against v0.1.
2024-07-30 20:52:26 [8,517ms] [Warning] [omni.graph.core._impl._registration.register_python_ogn] Python import process in omni.anim.graph.core failed - 'NoneType' object is not subscriptable. Aborting Python node registration
[8.526s] [ext: omni.curve.creator-105.0.4] startup
[8.529s] [ext: omni.scene.visualization.core-105.4.13] startup
2024-07-30 20:52:26 [8,523ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
Warning: Possible version incompatibility. Attempting to load omni::fabric::IStageReaderWriter with version v0.10 against v0.9.
[8.538s] [ext: omni.anim.navigation.core-106.0.2] startup
[8.544s] [ext: omni.ramp-105.1.15] startup
[8.549s] [ext: omni.curve.manipulator-105.2.6] startup
[8.606s] [ext: omni.anim.skelJoint-106.0.1] startup
Warning: Possible version incompatibility. Attempting to load omni::fabric::IPath with version v0.2 against v0.1.
[8.614s] [ext: omni.genproc.core-105.1.9] startup
[8.626s] [ext: omni.anim.navigation.ui-106.0.2] startup
[8.717s] [ext: omni.anim.retarget.ui-106.0.1] startup
[8.766s] [ext: omni.graph.io-1.9.1] startup
2024-07-30 20:52:26 [8,758ms] [Warning] [omni.graph.io._impl.extension] omni.graph.io is deprecated. Nodes in this extension have been moved to omni.graph.nodes. Update any dependencies accordingly.
[8.768s] [ext: omni.anim.navigation.bundle-106.0.1] startup
[8.770s] [ext: omni.anim.retarget.bundle-106.0.1] startup
[8.771s] [ext: omni.anim.graph.ui-106.0.1] startup
[8.867s] [ext: omni.kit.scripting-106.0.1] startup
[8.872s] [ext: omni.kit.quicklayout-1.0.7] startup
[8.914s] [ext: omni.anim.graph.bundle-106.0.3] startup
[8.916s] [ext: omni.anim.people-0.4.1] startup
[8.941s] [ext: omni.anim.curve.core-1.1.13] startup
[8.955s] [ext: omni.anim.timeline-105.0.23] startup
[9.044s] [ext: omni.services.pip_archive-0.13.5] startup
[9.078s] [ext: omni.kit.mesh.raycast-105.4.0] startup
[9.083s] [ext: omni.replicator.agent.core-0.3.1] startup
[omni.replicator.agent.Core] Extension startup
2024-07-30 20:52:27 [9,222ms] [Warning] [omni.anim.graph.core.plugin] CharacterManager::Shutdown() called without a prior successful call to CharacterManager::Initialize().
Fatal Python error: Fatal Python error: Segmentation fault

Thread 0x00007295f2fff640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File Segmentation fault"

/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007297611ff640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007297d3fff640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x000072978ffff640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953
Extension modules:  in psutil._psutil_linuxrun
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py, "psutil._psutil_posix, line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007297e7fff640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007297ee7e8640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File , "omni.mdl.pymdlsdk._pymdlsdk/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Current thread 0x0000729ac4d33b80 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 724 in render
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 1313 in _init_stage
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", , line numpy.core._multiarray_umath141 in __init__, 
numpy.core._multiarray_tests  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/world/world.py", line , 97numpy.linalg._umath_linalg in __init__
  File "/home/marcelo/pegasus/PegasusSimulator/examples/11_people.py, "numpy.fft._pocketfft_internal, line 91 in __init__, 
numpy.random._common  File "/home/marcelo/pegasus/PegasusSimulator/examples/11_people.py", line , 167numpy.random.bit_generator in main
  File , "numpy.random._bounded_integers/home/marcelo/pegasus/PegasusSimulator/examples/11_people.py", line 173,  in numpy.random._mt19937<module>
, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, PIL._imaging
Extension modules: psutil._psutil_linux, psutil._psutil_posix, omni.mdl.pymdlsdk._pymdlsdk, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, , PIL._imagingftnumpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, , scipy._lib._ccallback_cnumpy.random._pcg64, , numpy.random._sfc64scipy.ndimage._nd_image, , numpy.random._generatorscipy.special._ufuncs_cxx, scipy.special._ufuncs, PIL._imaging, scipy.special._specfun, scipy.special._comb, PIL._imagingft, scipy.linalg._fblas, , scipy._lib._ccallback_cscipy.linalg._flapack, scipy.ndimage._nd_image, scipy.linalg._cythonized_array_utils, scipy.special._ufuncs_cxx, scipy.linalg._flinalg, scipy.special._ufuncs, scipy.linalg._solve_toeplitz, scipy.special._specfun, , scipy.special._combscipy.linalg._matfuncs_sqrtm_triu, , scipy.linalg._fblasscipy.linalg.cython_lapack, scipy.linalg._flapack, , scipy.linalg.cython_blasscipy.linalg._cythonized_array_utils, scipy.linalg._flinalg, scipy.linalg._matfuncs_expm, scipy.linalg._solve_toeplitz, , scipy.linalg._matfuncs_sqrtm_triuscipy.linalg._decomp_update, scipy.linalg.cython_lapack, scipy.linalg.cython_blas, scipy.sparse._sparsetools, scipy.linalg._matfuncs_expm, , scipy.linalg._decomp_update_csparsetools, scipy.sparse._sparsetools, , scipy.sparse._csparsetools_csparsetools, scipy.sparse._csparsetools, scipy.sparse.linalg._isolve._iterative, scipy.sparse.linalg._isolve._iterative, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.csgraph._tools, , scipy.sparse.csgraph._toolsscipy.sparse.csgraph._shortest_path, , scipy.sparse.csgraph._traversalscipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._matching, , scipy.sparse.csgraph._reorderingscipy.sparse.csgraph._flow, scipy.special._ellip_harm_2, scipy.sparse.csgraph._matching, _ni_label, , scipy.sparse.csgraph._reorderingscipy.ndimage._ni_label, scipy.special._ellip_harm_2, , _ni_label_cffi_backend, scipy.ndimage._ni_label, _cffi_backend, torch._C, torch._C, torch._C._fft, , torch._C._ffttorch._C._linalg, torch._C._nested, , torch._C._linalgtorch._C._nn, , torch._C._sparsetorch._C._nested, torch._C._special, torch._C._nn, torch._C._sparse, scipy.spatial._ckdtree, , scipy._lib.messagestreamtorch._C._special, scipy.spatial._qhull, scipy.spatial._voronoi, , scipy.spatial._ckdtreescipy.spatial._distance_wrap, , scipy._lib.messagestreamscipy.spatial._hausdorff, scipy.spatial._qhull, scipy.spatial.transform._rotation, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.spatial.transform._rotation, osqp._osqp, osqp._osqp, multidict._multidict, multidict._multidict, yarl._quoting_c, yarl._quoting_c, aiohttp._helpers, , aiohttp._helpersaiohttp._http_writer, , aiohttp._http_writeraiohttp._http_parser, aiohttp._websocket, aiohttp._http_parser, , frozenlist._frozenlistaiohttp._websocket, frozenlist._frozenlist, scipy.io.matlab._mio_utils, scipy.io.matlab._mio_utils, scipy.io.matlab._streams, , scipy.io.matlab._streamsscipy.io.matlab._mio5_utils, scipy.io.matlab._mio5_utils, yaml._yaml, yaml._yaml, cv2, cv2 (total:  (total: 7878))

/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/python.sh: line 41: 20430 Segmentation fault      (core dumped) $python_exe "$@" $args
There was an error running python

I would pay close attention to the line:

2024-07-30 20:52:27 [9,222ms] [Warning] [omni.anim.graph.core.plugin] CharacterManager::Shutdown() called without a prior successful call to CharacterManager::Initialize().
Fatal Python error: Fatal Python error: Segmentation fault

This is C++ code which I do not have access to, so its hard for me to pin-point what is actually missing.

9

The warning statement can be ignored. Can you please confirm you are seeing a crash with the base example here and the modifications above. We are not able to reproduce the crash you reported.

In the crash logs you provided, I see some numpy calls that were not present in the initial script shared.

10

Iā€™m running this exact code again:

#!/usr/bin/env python
"""
| File: 10_people.py
| License: BSD-3-Clause. Copyright (c) 2024, Marcelo Jacinto. All rights reserved.
| Description: This files serves as an example on how to build an app that makes use of the Pegasus API to run a simulation
| where people move around in the world.
"""

# Imports to start Isaac Sim from this script
import carb
from isaacsim import SimulationApp                  # Isaac sim 4.1.0
#from omni.isaac.kit import SimulationApp           # Isaac sim 2023

# Start Isaac Sim's simulation environment
# Note: this simulation app must be instantiated right after the SimulationApp import, otherwise the simulator will crash
# as this is the object that will load all the extensions and load the actual simulator.
simulation_app = SimulationApp({"headless": False})

# -----------------------------------
# The actual script should start here
# -----------------------------------
import omni.timeline
from omni.isaac.core.world import World
from omni.isaac.core.utils.extensions import disable_extension, enable_extension

# Enable/disable ROS bridge extensions to keep only ROS2 Bridge
disable_extension("omni.isaac.ros_bridge")
enable_extension("omni.isaac.ros2_bridge")

# EXTENSIONS_PEOPLE = [                  # Isaac sim 2023
#     'omni.anim.people',
#     'omni.anim.navigation.bundle',
#     'omni.anim.timeline',
#     'omni.anim.graph.bundle',
#     'omni.anim.graph.core',
#     'omni.anim.graph.ui',
#     'omni.anim.retarget.bundle',
#     'omni.anim.retarget.core',
#     'omni.anim.retarget.ui',
#     'omni.kit.scripting'
# ]

EXTENSIONS_PEOPLE = [                   # Isaac sim 4.1.0
    'omni.anim.people',
    'omni.anim.navigation.bundle',
    'omni.anim.timeline',
    'omni.anim.graph.bundle',
    'omni.anim.graph.core',
    'omni.anim.graph.ui',
    'omni.anim.retarget.bundle',
    'omni.anim.retarget.core',
    'omni.anim.retarget.ui',
    'omni.kit.scripting',
    'omni.graph.io',
    'omni.anim.curve.core',
    'omni.anim.skelJoint',
    'omni.anim.graph.schema',
    'omni.anim.retarget.core',
    'omni.replicator.agent.core'
]

for ext_people in EXTENSIONS_PEOPLE:
    enable_extension(ext_people)

# Auxiliary scipy and numpy modules
from scipy.spatial.transform import Rotation

import omni.anim.graph.core as ag
import carb
from omni.isaac.core.utils import prims
from omni.anim.people import PeopleSettings
from pxr import Gf, Sdf

#from omni.isaac.core.utils.nucleus import get_assets_root_path  # Isaac sim 2023
from omni.isaac.nucleus import get_assets_root_path              # Isac sim 4.1.0

class PegasusApp:
    """
    A Template class that serves as an example on how to build a simple Isaac Sim standalone App.
    """

    def __init__(self):
        """
        Method that initializes the PegasusApp and is used to setup the simulation environment.
        """

        # Acquire the timeline that will be used to start/stop the simulation
        self.timeline = omni.timeline.get_timeline_interface()

        # Instantiate the world object
        self.world = World()

        # Get the characeters spawned in the world
        setting_dict = carb.settings.get_settings()
        character_root_prim_path = setting_dict.get(PeopleSettings.CHARACTER_PRIM_PATH)
        people_asset_folder = get_assets_root_path() + "/Isaac/People/Characters"

        carb.log_warn(f"Character root prim path: {character_root_prim_path}")
        carb.log_warn(f"People Assets folder: {people_asset_folder}")

        prims.create_prim(character_root_prim_path, "Xform")

        prim = prims.create_prim("/World/Characters" + "/Biped_Setup", "Xform", usd_path=people_asset_folder + "/Biped_Setup.usd")
        prim.GetAttribute("visibility").Set("invisible")

        prim2 = prims.create_prim("/World/Characters" + "/female_adult_business_02", "Xform", usd_path=people_asset_folder + "/F_Business_02/F_Business_02.usd")

        if type(prim2.GetAttribute("xformOp:orient").Get()) == Gf.Quatf:
            prim2.GetAttribute("xformOp:orient").Set(Gf.Quatf(Gf.Rotation(Gf.Vec3d(0,0,1), 0.0).GetQuat()))
        else:
            prim2.GetAttribute("xformOp:orient").Set(Gf.Rotation(Gf.Vec3d(0,0,1), 0.0).GetQuat())

        # # Get the skeleton
        #skel = self.world.stage.GetPrimAtPath("/World/Characters/female_adult_business_02/female_adult_business_02/ManRoot/female_adult_business_02")

        # # Get the animation graph
        #animation_graph = self.world.stage.GetPrimAtPath("/World/Characters/Biped_Setup/CharacterAnimation/AnimationGraph")

        # print(skel)
        # print(animation_graph)

        # # Add the animation graph to the character
        # print(Sdf.Path(skel.GetPrimPath()))
        # print(animation_graph.GetPrimPath())

        # Apply the animation graphto the character
        omni.kit.commands.execute("ApplyAnimationGraphAPICommand", paths=[Sdf.Path("/World/Characters/female_adult_business_02/female_adult_business_02/ManRoot/female_adult_business_02")], animation_graph_path=Sdf.Path("/World/Characters/Biped_Setup/CharacterAnimation/AnimationGraph"))
        omni.kit.commands.execute("AnimGraphUIRefreshPropertyWindowCommand")

        # Reset the simulation environment so that all articulations (aka robots) are initialized
        self.world.reset()

        # Auxiliar variable for the timeline callback example
        self.stop_sim = False

    def run(self):
        """
        Method that implements the application main loop, where the physics steps are executed.
        """

        # Start the simulation
        self.timeline.play()

        # The "infinite" loop
        while simulation_app.is_running() and not self.stop_sim:

            # Get the animation graphso that we can apply actions
            #character_graph = ag.get_character("/World/Characters/female_adult_business_02/female_adult_business_02/ManRoot/female_adult_business_02")

            # This should not be None !!!!
            #print(character_graph)

            # Update the UI of the app and perform the physics step
            self.world.step(render=True)

        # Cleanup and stop
        carb.log_warn("PegasusApp Simulation App is closing.")
        self.timeline.stop()
        simulation_app.close()

def main():

    import omni.usd
    omni.usd.get_context().new_stage()

    # Instantiate the template app
    pg_app = PegasusApp()

    # Run the application loop
    pg_app.run()

if __name__ == "__main__":
    main()

and getting this exact output:

marcelo@Desktop-Ubuntu:~/pegasus/PegasusSimulator/examples$ ISAACSIM_PYTHON 11_people.py 
Starting kit application with the following args:  ['/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/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/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts', '--ext-folder', '/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application:  []
[Info] [carb] Logging to file: /home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/logs/Kit/Isaac-Sim/4.1/kit_20240730_223925.log
2024-07-30 21:39:25 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.072s] [ext: omni.kit.async_engine-0.0.0] startup
[0.471s] [ext: omni.stats-1.0.1] startup
[0.474s] [ext: omni.client-1.1.0] startup
[0.535s] [ext: omni.datastore-0.0.0] startup
[0.537s] [ext: omni.blobkey-1.1.0] startup
[0.538s] [ext: omni.ujitso.default-1.0.0] startup
[0.542s] [ext: omni.hsscclient-0.0.0] startup
[0.543s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup
[0.545s] [ext: omni.assets.plugins-0.0.0] startup
[0.552s] [ext: omni.gpu_foundation-0.0.0] startup
[0.604s] [ext: carb.windowing.plugins-1.0.0] startup
2024-07-30 21:39:26 [1,359ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored):  Logitech USB Receiver Consumer Control [030000006d04000048c5000011010000]
2024-07-30 21:39:26 [1,359ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored):  Touchscreen passthrough [03000000efbe0000adde000011010000]
[1.382s] [ext: omni.kit.renderer.init-0.0.0] startup

|---------------------------------------------------------------------------------------------|
| Driver Version: 550.90.07     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3090          | Yes: 0 |     | 24822   MB | 10de      | 0          |
|     |                                  |        |     |            | 2204      | 5f1cffd2.. |
|     |                                  |        |     |            | 9         |            |
|=============================================================================================|
| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 6.5.0-45-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: AMD Ryzen 9 5900X 12-Core Processor | Cores: 12 | Logical: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64192 | Free Memory: 59812
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2024-07-30 21:39:27 [1,906ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
[2.099s] [ext: omni.kit.pipapi-0.0.0] startup
[2.101s] [ext: omni.kit.pip_archive-0.0.0] startup
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[3.024s] [ext: omni.usd.schema.forcefield-106.0.20] startup
[3.034s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
[3.042s] [ext: omni.graph.exec-0.9.3] startup
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[3.292s] [ext: omni.kit.widget.context_menu-1.2.1] startup
[3.293s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
[3.295s] [ext: omni.kit.collaboration.channel_manager-1.0.11] startup
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[3.433s] [ext: omni.graph.core-2.170.3] startup
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[3.455s] [ext: omni.kit.hotkeys.core-1.3.3] startup
[3.456s] [ext: omni.kit.context_menu-1.8.0] startup
[3.459s] [ext: omni.mdl-52.0.1] startup
[3.494s] [ext: omni.iray.libs-0.0.0] startup
[3.573s] [ext: omni.kit.primitive.mesh-1.0.16] startup
[3.578s] [ext: omni.kit.stage_template.core-1.1.21] startup
[3.579s] [ext: omni.mdl.neuraylib-0.2.5] startup
[3.583s] [ext: omni.ujitso.processor.texture-1.0.0] startup
[3.585s] [ext: omni.kit.window.file_exporter-1.0.29] startup
[3.590s] [ext: omni.kit.stage_templates-1.2.3] startup
[3.593s] [ext: omni.volume-0.5.0] startup
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[3.607s] [ext: omni.kit.window.file_importer-1.1.11] startup
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[3.665s] [ext: omni.kit.window.content_browser-2.9.14] startup
[3.682s] [ext: omni.kit.widget.stage-2.10.26] startup
[3.698s] [ext: omni.kit.material.library-1.4.4] startup
[3.707s] [ext: omni.kit.hydra_texture-1.2.6] startup
[3.713s] [ext: omni.kit.viewport.legacy_gizmos-1.0.15] startup
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[3.725s] [ext: omni.hydra.engine.stats-1.0.2] startup
[3.730s] [ext: omni.kit.widget.searchfield-1.1.6] startup
[3.731s] [ext: omni.kit.widget.viewport-106.0.3] startup
[3.737s] [ext: omni.kit.viewport.registry-104.0.6] startup
[3.738s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[3.741s] [ext: omni.kit.viewport.window-106.0.8] startup
[3.765s] [ext: omni.kit.window.property-1.11.1] startup
[3.768s] [ext: omni.usdphysics-106.0.20] startup
[3.772s] [ext: omni.graph.tools-1.78.0] startup
[3.801s] [ext: omni.kit.viewport.utility-1.0.17] startup
[3.802s] [ext: omni.kit.property.usd-3.21.28] startup
[3.815s] [ext: omni.graph-1.135.0] startup
[3.992s] [ext: omni.graph.image.core-0.3.2] startup
[3.997s] [ext: omni.graph.ui-1.70.0] startup
[4.019s] [ext: omni.graph.action_core-1.1.4] startup
[4.028s] [ext: omni.kit.window.cursor-1.1.2] startup
[4.030s] [ext: omni.graph.image.nodes-1.0.2] startup
[4.036s] [ext: omni.graph.action_nodes-1.23.0] startup
[4.046s] [ext: omni.kit.viewport.menubar.core-106.0.2] startup
[4.101s] [ext: omni.graph.nodes-1.143.0] startup
Warning: Possible version incompatibility. Attempting to load omni::fabric::IPath with version v0.2 against v0.1.
[4.156s] [ext: omni.graph.action-1.102.1] startup
[4.160s] [ext: omni.warp.core-1.2.1] startup
[4.296s] [ext: omni.syntheticdata-0.6.7] startup
[4.375s] [ext: omni.warp-1.2.1] startup
[4.408s] [ext: omni.kvdb-106.0.20] startup
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[4.475s] [ext: omni.convexdecomposition-106.0.20] startup
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[4.575s] [ext: omni.kit.viewport.actions-106.0.3] startup
[4.607s] [ext: omni.debugdraw-0.1.3] startup
[4.616s] [ext: omni.physx-106.0.20] startup
[4.642s] [ext: omni.kit.viewport.menubar.display-106.0.2] startup
[4.650s] [ext: omni.kit.manipulator.transform-104.7.5] startup
[4.657s] [ext: omni.kit.widget.toolbar-1.6.2] startup
[4.673s] [ext: omni.physx.stageupdate-106.0.20] startup
[4.678s] [ext: omni.usdphysics.ui-106.0.20] startup
[4.700s] [ext: omni.physx.commands-106.0.20] startup
[4.706s] [ext: omni.kit.manipulator.tool.snap-1.4.5] startup
[4.714s] [ext: omni.kit.property.material-1.9.4] startup
[4.718s] [ext: omni.physx.ui-106.0.20] startup
[4.753s] [ext: omni.kit.manipulator.selector-1.1.1] startup
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[4.874s] [ext: omni.physx.vehicle-106.0.20] startup
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[4.953s] [ext: omni.isaac.version-1.1.0] startup
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[4.960s] [ext: omni.kit.manipulator.prim-106.0.0] startup
[4.960s] [ext: omni.command.usd-1.0.3] startup
[4.961s] [ext: omni.physx.tensors-106.0.20] startup
[4.969s] [ext: omni.isaac.nucleus-0.3.0] startup
[4.970s] [ext: omni.kit.window.toolbar-1.6.1] startup
[4.973s] [ext: omni.kit.widget.layers-1.7.9] startup
[4.986s] [ext: omni.physx.graph-106.0.20] startup
[5.007s] [ext: omni.physx.supportui-106.0.20] startup
[5.031s] [ext: omni.physx.telemetry-106.0.20] startup
[5.043s] [ext: omni.graph.scriptnode-1.19.1] startup
[5.046s] [ext: omni.graph.ui_nodes-1.25.1] startup
Warning: Possible version incompatibility. Attempting to load omni::fabric::IPath with version v0.2 against v0.1.
[5.057s] [ext: omni.kit.numpy.common-0.1.2] startup
[5.065s] [ext: omni.physx.bundle-106.0.20] startup
[5.070s] [ext: omni.kit.window.material_graph-1.8.15] startup
[5.128s] [ext: omni.graph.bundle.action-2.0.4] startup
[5.128s] [ext: omni.isaac.dynamic_control-1.3.8] startup
[5.143s] [ext: omni.replicator.core-1.11.14] startup
2024-07-30 21:39:30 [5,252ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
Warp 1.2.1 initialized:
   CUDA Toolkit 11.8, Driver 12.4
   Devices:
     "cpu"      : "x86_64"
     "cuda:0"   : "NVIDIA GeForce RTX 3090" (24 GiB, sm_86, mempool enabled)
   Kernel cache:
     /home/marcelo/.cache/warp/1.2.1
[5.541s] [ext: omni.isaac.core-3.18.1] startup
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[7.513s] [ext: omni.isaac.wheeled_robots-2.3.3] startup
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[7.600s] [ext: omni.isaac.menu-0.5.0] startup
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Warning: Possible version incompatibility. Attempting to load omni::fabric::IStageReaderWriter with version v0.10 against v0.9.
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2024-07-30 21:39:39 [13,603ms] [Warning] [omni.graph.io._impl.extension] omni.graph.io is deprecated. Nodes in this extension have been moved to omni.graph.nodes. Update any dependencies accordingly.
[13.628s] [ext: omni.anim.navigation.bundle-106.0.1] startup
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[omni.replicator.agent.Core] Extension startup
2024-07-30 21:39:39 [14,128ms] [Warning] [omni.anim.graph.core.plugin] CharacterManager::Shutdown() called without a prior successful call to CharacterManager::Initialize().
Fatal Python error: 2024-07-30 21:39:39 [14,170ms] [Error] [omni.graph.core.plugin] N4omni5graph4core5GraphE::getPointerFromHandle - handle 2 not found
Segmentation fault2024-07-30 21:39:39 [14,170ms] [Error] [omni.graph.core.plugin] invalid graph passed into Graph::getNodeCount, line 2071


Thread 0x00007ee74f3ff640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007ee8aabff640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007ee92affd640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007ee92a7fc640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007ee9491e8640 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 953 in run
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/kit/python/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x00007eec271b6b80 (most recent call first):
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 724 in render
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 1313 in _init_stage
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 141 in __init__
  File "/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 97 in __init__
  File "/home/marcelo/pegasus/PegasusSimulator/examples/11_people.py", line 91 in __init__
  File "/home/marcelo/pegasus/PegasusSimulator/examples/11_people.py", line 167 in main
  File "/home/marcelo/pegasus/PegasusSimulator/examples/11_people.py", line 173 in <module>

Extension modules: psutil._psutil_linux, psutil._psutil_posix, omni.mdl.pymdlsdk._pymdlsdk, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, PIL._imaging, PIL._imagingft, scipy._lib._ccallback_c, scipy.ndimage._nd_image, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg._cythonized_array_utils, scipy.linalg._flinalg, scipy.linalg._solve_toeplitz, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg.cython_lapack, scipy.linalg.cython_blas, scipy.linalg._matfuncs_expm, scipy.linalg._decomp_update, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.sparse.linalg._isolve._iterative, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.special._ellip_harm_2, _ni_label, scipy.ndimage._ni_label, _cffi_backend, torch._C, torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, torch._C._special, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.spatial.transform._rotation, osqp._osqp, multidict._multidict, yarl._quoting_c, aiohttp._helpers, aiohttp._http_writer, aiohttp._http_parser, aiohttp._websocket, frozenlist._frozenlist, scipy.io.matlab._mio_utils, scipy.io.matlab._streams, scipy.io.matlab._mio5_utils, yaml._yaml, cv2 (total: 78)
/home/marcelo/.local/share/ov/pkg/isaac-sim-4.1.0/python.sh: line 41:  7353 Segmentation fault      (core dumped) $python_exe "$@" $args
There was an error running python

If the recommended lines are removed, it does not crash, but the animation graph does not get ā€œactivatedā€.
@KrishnaK Any news regarding this issue?

11

Hello again,

I finally managed to get it working. Instead of placing the recommend (new_stage) function in the main, Iā€™ve placed it right after the imports. Here is the sample code that worked:

#!/usr/bin/env python
"""
| File: 10_people.py
| License: BSD-3-Clause. Copyright (c) 2024, Marcelo Jacinto. All rights reserved.
| Description: This files serves as an example on how to build an app that makes use of the Pegasus API to run a simulation
| where people move around in the world.
"""

# Imports to start Isaac Sim from this script
import carb
from isaacsim import SimulationApp

# Start Isaac Sim's simulation environment
# Note: this simulation app must be instantiated right after the SimulationApp import, otherwise the simulator will crash
# as this is the object that will load all the extensions and load the actual simulator.
simulation_app = SimulationApp({"headless": False})

from omni.isaac.core.utils.extensions import disable_extension, enable_extension

EXTENSIONS_PEOPLE = [
    'omni.anim.people',
    'omni.anim.navigation.bundle',
    'omni.anim.timeline',
    'omni.anim.graph.bundle',
    'omni.anim.graph.core',
    'omni.anim.graph.ui',
    'omni.anim.retarget.bundle',
    'omni.anim.retarget.core',
    'omni.anim.retarget.ui',
    'omni.kit.scripting',
    'omni.graph.io',
    'omni.anim.curve.core',
]

for ext_people in EXTENSIONS_PEOPLE:
    enable_extension(ext_people)

# -----------------------------------
# The actual script should start here
# -----------------------------------
# Enable/disable ROS bridge extensions to keep only ROS2 Bridge
disable_extension("omni.isaac.ros_bridge")
enable_extension("omni.isaac.ros2_bridge")

simulation_app.update()

# Auxiliary scipy and numpy modules
import omni.timeline
from omni.isaac.core.world import World
from scipy.spatial.transform import Rotation

import omni.anim.graph.core as ag
import carb
from omni.isaac.core.utils import prims
from omni.anim.people import PeopleSettings
from pxr import Gf, Sdf
from omni.isaac.nucleus import get_assets_root_path

# These lines are needed to restart the USD stage and make sure that the people extension is loaded
import omni.usd
omni.usd.get_context().new_stage()

class PegasusApp:
    """
    A Template class that serves as an example on how to build a simple Isaac Sim standalone App.
    """

    def __init__(self):
        """
        Method that initializes the PegasusApp and is used to setup the simulation environment.
        """

        # Acquire the timeline that will be used to start/stop the simulation
        self.timeline = omni.timeline.get_timeline_interface()

        # Instantiate the world object
        self.world = World()

        # Get the characeters spawned in the world
        setting_dict = carb.settings.get_settings()
        character_root_prim_path = setting_dict.get(PeopleSettings.CHARACTER_PRIM_PATH)
        people_asset_folder = get_assets_root_path() + "/Isaac/People/Characters"

        carb.log_warn(f"Character root prim path: {character_root_prim_path}")
        carb.log_warn(f"People Assets folder: {people_asset_folder}")

        prims.create_prim(character_root_prim_path, "Xform")

        prim = prims.create_prim("/World/Characters" + "/Biped_Setup", "Xform", usd_path=people_asset_folder + "/Biped_Setup.usd")
        prim.GetAttribute("visibility").Set("invisible")

        prim2 = prims.create_prim("/World/Characters" + "/female_adult_business_02", "Xform", usd_path=people_asset_folder + "/F_Business_02/F_Business_02.usd")

        if type(prim2.GetAttribute("xformOp:orient").Get()) == Gf.Quatf:
            prim2.GetAttribute("xformOp:orient").Set(Gf.Quatf(Gf.Rotation(Gf.Vec3d(0,0,1), 0.0).GetQuat()))
        else:
            prim2.GetAttribute("xformOp:orient").Set(Gf.Rotation(Gf.Vec3d(0,0,1), 0.0).GetQuat())

        # Apply the animation graphto the character
        omni.kit.commands.execute("ApplyAnimationGraphAPICommand", paths=[Sdf.Path("/World/Characters/female_adult_business_02/female_adult_business_02/ManRoot/female_adult_business_02")], animation_graph_path=Sdf.Path("/World/Characters/Biped_Setup/CharacterAnimation/AnimationGraph"))
        omni.kit.commands.execute("AnimGraphUIRefreshPropertyWindowCommand")

        # Reset the simulation environment so that all articulations (aka robots) are initialized
        self.world.reset()

        # Auxiliar variable for the timeline callback example
        self.stop_sim = False

    def run(self):
        """
        Method that implements the application main loop, where the physics steps are executed.
        """

        # Start the simulation
        self.timeline.play()

        # The "infinite" loop
        while simulation_app.is_running() and not self.stop_sim:

            # Get the animation graphso that we can apply actions
            character_graph = ag.get_character("/World/Characters/female_adult_business_02/female_adult_business_02/ManRoot/female_adult_business_02")

            # This should not be None !!!!
            print(character_graph)

            # Update the UI of the app and perform the physics step
            self.world.step(render=True)

        # Cleanup and stop
        carb.log_warn("PegasusApp Simulation App is closing.")
        self.timeline.stop()
        simulation_app.close()

def main():

    # Instantiate the template app
    pg_app = PegasusApp()

    # Run the application loop
    pg_app.run()

if __name__ == "__main__":
    main()

Thank you @KrishnaK for the great support provided.

Best regards,
Marcelo

12

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