Topic Description
I am trying to animate People by use query_shortest_path(start_pos, end_pos) to get the path between two points in the navmesh. I tried to follow the solution provided on a related topic where someone faced a similar issue. However this does not work for me. I followed the documentation on API Commands. According to the above pages and other examples, after acquiring the interface using nav.acquire_interface() you should bake it. However, even after following the instructions, the baking process still fails. Because of this, I suspect I get a NoneType obejct when I call inav.get_navmesh(). Since this should not return None, I am unable to use the path fucntions. I have share the script that I am trying to run along with the full terminal log. In the end, it can be seen that the baking is unsuccessful and navmesh is None type.
What is the correct way to get the navmesh in order to use path functions such as the query_shortest_path(start_pos, end_pos)?
System configuration
Isaac Sim Version: 4.2.0
Operating System: Ubuntu 22.04
GPU Model: NVIDIA GeForce RTX 4090
GPU Driver Version: 550.107.02
CUDA Version: 12.4
Script
import carb
# Starting Simulation
from isaacsim import SimulationApp
config = {
"width": "800",
"height": "600",
"headless": False
}
simulation_app = SimulationApp(config)
from omni.isaac.core.utils.extensions import 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)
simulation_app.update()
import os
import omni
import omni.kit
from omni.isaac.nucleus import get_assets_root_path
from omni.isaac.core import World
import omni.anim.navigation.core as nav
from pxr import Sdf
class Simulator():
def __init__(self) -> None:
# Get path to asset directory
self.local_root_path = os.path.dirname(os.path.abspath(__file__))
assets_root_path = get_assets_root_path()
file_path = self.local_root_path + "/assets/empty_world.usd"
omni.usd.get_context().open_stage(file_path)
self.timeline = omni.timeline.get_timeline_interface()
self.world = World(stage_units_in_meters=1.0)
self.world.scene.add_default_ground_plane()
stage = omni.usd.get_context().get_stage()
inav = nav.acquire_interface()
omni.kit.commands.execute("CreateNavMeshVolumeCommand",
parent_prim_path=Sdf.Path("/World"),
layer=stage.GetRootLayer()
)
# Bake navmesh
mesh_status = inav.start_navmesh_baking()
if mesh_status:
print("mesh baking successful")
else:
print("mesh baking unsuccessful")
navmesh = inav.get_navmesh()
if navmesh:
print("navmesh is not None")
else:
print("navmesh is None")
def run(self) -> None:
self.world.reset()
while simulation_app.is_running():
self.world.step(render=True)
if self.world.is_playing():
if self.world.current_time_step_index == 0:
self.world.reset()
simulation_app.close()
if __name__ == "__main__":
sim = Simulator()
sim.run()
Terminal Log
Starting kit application with the following args: ['/home/lalatendu/isaac-sim-4.2/pkg/isaac-sim-4.2.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/lalatendu/isaac-sim-4.2/pkg/isaac-sim-4.2.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/lalatendu/isaac-sim-4.2/pkg/isaac-sim-4.2.0/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=800', '--/app/renderer/resolution/height=600', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/lalatendu/isaac-sim-4.2/pkg/isaac-sim-4.2.0/exts', '--ext-folder', '/home/lalatendu/isaac-sim-4.2/pkg/isaac-sim-4.2.0/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application: []
[Info] [carb] Logging to file: /home/scai/.local/share/ov/pkg/isaac-sim-4.2.0/kit/logs/Kit/Isaac-Sim/4.2/kit_20241106_120211.log
2024-11-06 11:02:11 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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|---------------------------------------------------------------------------------------------|
| Driver Version: 550.107.02 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 23028 MB | 10de | 0 |
| | | | | | 2684 | 8d35582a.. |
| | | | | | 1 | |
|---------------------------------------------------------------------------------------------|
| 1 | NVIDIA GeForce RTX 4090 | Yes: 1 | | 24564 MB | 10de | 0 |
| | | | | | 2684 | 8a26c998.. |
| | | | | | 2 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-45-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 13th Gen Intel(R) Core(TM) i9-13900K | Cores: 24 | Logical: 48
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 128549 | Free Memory: 119617
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2024-11-06 11:02:12 [766ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
2024-11-06 11:02:12 [766ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
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2024-11-06 11:02:22 [10,239ms] [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 4090" (22 GiB, sm_89, mempool enabled)
"cuda:1" : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
CUDA peer access:
Not supported
Kernel cache:
/home/lalatendu/.cache/warp/1.2.1
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[10.665s] [ext: omni.kit.property.transform-1.5.9] startup
[10.669s] [ext: omni.kit.property.material-1.10.8] startup
[10.674s] [ext: omni.kit.widget.layers-1.8.0] startup
[10.681s] [ext: omni.kit.property.isaac-0.2.3] startup
[10.683s] [ext: omni.kit.property.bundle-1.3.1] startup
[10.684s] [ext: omni.sensors.nv.common-1.2.2-isaac-1] startup
[10.691s] [ext: omni.kit.property.layer-1.1.8] startup
[10.692s] [ext: omni.kit.stage_column.payload-2.0.0] startup
[10.693s] [ext: omni.isaac.scene_blox-0.1.2] startup
[10.694s] [ext: omni.sensors.nv.materials-1.2.1-isaac-1] startup
[10.696s] [ext: omni.sensors.nv.wpm-1.2.1-isaac-1] startup
[10.697s] [ext: omni.kit.viewport.actions-106.0.2] startup
[10.699s] [ext: omni.sensors.nv.lidar-1.2.2-isaac-1] startup
[10.703s] [ext: omni.sensors.nv.radar-1.2.1-isaac-1] startup
[10.706s] [ext: omni.kit.viewport.menubar.display-107.0.2] startup
[10.708s] [ext: omni.kit.manipulator.transform-104.7.4] startup
[10.710s] [ext: omni.kit.widget.toolbar-1.7.2] startup
[10.714s] [ext: omni.sensors.tiled-0.0.6] startup
[10.715s] [ext: omni.sensors.nv.ids-1.1.0-isaac-1] startup
[10.718s] [ext: omni.isaac.range_sensor-3.1.2] startup
[10.726s] [ext: omni.usdphysics.ui-106.1.9] startup
[10.740s] [ext: omni.physx.commands-106.1.9] startup
[10.743s] [ext: omni.kit.manipulator.tool.snap-1.5.11] startup
[10.746s] [ext: omni.isaac.sensor-12.9.1] startup
[10.791s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[10.793s] [ext: omni.physx.ui-106.1.9] startup
[10.818s] [ext: omni.isaac.quadruped-2.0.1] startup
[10.824s] [ext: omni.kit.viewport.manipulator.transform-107.0.2] startup
[10.826s] [ext: omni.physx.demos-106.1.9] startup
[10.838s] [ext: omni.kit.property.physx-106.1.9] startup
[10.884s] [ext: omni.kit.widget.calendar-1.0.8] startup
[10.894s] [ext: omni.kit.manipulator.prim.core-107.0.4] startup
[10.898s] [ext: omni.fabric.commands-1.1.5] startup
[10.900s] [ext: omni.physx.vehicle-106.1.9] startup
[10.912s] [ext: omni.kit.widget.extended_searchfield-1.0.28] startup
[10.920s] [ext: omni.kit.manipulator.prim.fabric-107.0.3] startup
[10.922s] [ext: omni.kit.manipulator.prim.usd-107.0.2] startup
[10.923s] [ext: omni.kit.widget.timeline-105.0.1] startup
[10.926s] [ext: omni.kit.window.commands-0.2.6] startup
[10.927s] [ext: omni.physx.camera-106.1.9] startup
[10.935s] [ext: omni.kit.manipulator.camera-105.0.5] startup
[10.937s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[10.941s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[10.941s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[10.942s] [ext: omni.kit.window.toolbar-1.6.1] startup
[10.943s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[10.945s] [ext: omni.kit.viewport.menubar.render-106.1.1] startup
[10.946s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[10.949s] [ext: omni.physx.cct-106.1.9] startup
[10.958s] [ext: omni.physx.graph-106.1.9] startup
[10.972s] [ext: omni.physx.supportui-106.1.9] startup
[10.985s] [ext: omni.physx.telemetry-106.1.9] startup
[10.987s] [ext: omni.graph.ui_nodes-1.26.0] startup
[10.990s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[10.991s] [ext: omni.isaac.universal_robots-0.3.5] startup
[10.992s] [ext: omni.kit.window.console-0.2.13] startup
[10.997s] [ext: omni.kit.window.script_editor-1.7.6] startup
[11.001s] [ext: omni.kit.menu.create-1.0.16] startup
[11.003s] [ext: omni.graph.bundle.action-2.4.1] startup
[11.005s] [ext: omni.physx.bundle-106.1.9] startup
[11.006s] [ext: omni.rtx.window.settings-0.6.17] startup
[11.009s] [ext: omni.kit.window.status_bar-0.1.7] startup
[11.012s] [ext: omni.kit.window.title-1.1.5] startup
[11.013s] [ext: omni.replicator.isaac-1.15.2] startup
[11.028s] [ext: omni.replicator.replicator_yaml-2.0.6] startup
[11.047s] [ext: omni.rtx.settings.core-0.6.3] startup
[11.051s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[11.057s] [ext: semantics.schema.editor-0.3.8] startup
[11.068s] [ext: semantics.schema.property-1.0.4] startup
[11.079s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[11.079s] [ext: omni.isaac.utils-1.0.1] startup
[11.080s] [ext: omni.isaac.cloner-0.8.1] startup
[11.082s] [ext: omni.importer.urdf-1.14.1] startup
[11.113s] [ext: omni.kit.window.stats-0.1.6] startup
[11.117s] [ext: omni.isaac.sim.python-4.2.0] startup
[11.118s] Simulation App Starting
[97.990s] app ready
[98.900s] Simulation App Startup Complete
[98.907s] [ext: omni.anim.behavior.schema-106.1.0] startup
[98.912s] [ext: omni.anim.retarget.core-106.1.2] startup
[98.916s] [ext: omni.anim.asset-106.1.0] startup
[98.918s] [ext: omni.kit.quicklayout-1.0.7] startup
[98.959s] [ext: omni.anim.graph.core-106.1.2] startup
2024-11-06 11:03:50 [98,909ms] [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
[98.970s] [ext: omni.anim.navigation.core-106.1.3] startup
[98.974s] [ext: omni.anim.navigation.navmesh.recast-106.1.4] startup
[98.975s] [ext: omni.kit.scripting-106.1.1] startup
[98.980s] [ext: omni.anim.people-0.5.0] startup
[98.990s] [ext: omni.kit.widget.zoombar-1.0.5] startup
[98.992s] [ext: omni.kit.browser.core-2.3.11] startup
[98.995s] [ext: omni.kit.browser.folder.core-1.9.13] startup
[98.997s] [ext: omni.kit.browser.sample-1.4.8] startup
[99.034s] [ext: omni.scene.visualization.core-105.4.13] startup
2024-11-06 11:03:50 [98,975ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
[99.040s] [ext: omni.curve.creator-105.0.4] startup
[99.041s] [ext: omni.curve.manipulator-105.2.8] startup
[99.088s] [ext: omni.anim.navigation.ui-106.1.1] startup
[99.159s] [ext: omni.anim.navigation.bundle-106.1.0] startup
[99.165s] [ext: omni.anim.curve.core-1.1.14] startup
[99.175s] [ext: omni.anim.timeline-105.0.23] startup
[99.184s] [ext: omni.kit.widget.imageview-1.0.3] startup
[99.186s] [ext: omni.kit.window.quicksearch-2.4.4] startup
[99.189s] [ext: omni.graph.io-1.9.1] startup
2024-11-06 11:03:50 [99,128ms] [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.
[99.190s] [ext: omni.ramp-105.1.15] startup
[99.192s] [ext: omni.genproc.core-106.1.0] startup
[99.202s] [ext: omni.anim.graph.ui-106.1.1] startup
[99.282s] [ext: omni.anim.graph.bundle-106.1.0] startup
[99.296s] [ext: omni.anim.skelJoint-106.1.2] startup
[99.302s] [ext: omni.anim.retarget.ui-106.1.1] startup
[99.343s] [ext: omni.anim.retarget.bundle-106.1.0] startup
2024-11-06 11:03:52 [100,366ms] [Warning] [omni.anim.graph.core.plugin] CharacterManager::Shutdown() called without a prior successful call to CharacterManager::Initialize().
mesh baking unsuccessful
navmesh is None