Hi,
I’m trying to use the lidar together with cameras. To speed things up I’d like to use the headless mode, for which I"m following OmniIsaacGym and set the experience as follows:
experience = ""
if headless:
if enable_livestream:
experience = ""
elif enable_viewport:
experience = f'{os.environ["EXP_PATH"]}/omni.isaac.sim.python.gym.headless.render.kit'
else:
experience = f'{os.environ["EXP_PATH"]}/omni.isaac.sim.python.gym.headless.kit'
The lidar works fine with experience = "" and experience = f'{os.environ["EXP_PATH"]}/omni.isaac.sim.python.gym.headless.kit' (as long as I add a render call, following this advice Unable to get depth data with LIDAR sensor in headless mode).
But when I try to use it together with a camera (setting experience = f'{os.environ["EXP_PATH"]}/omni.isaac.sim.python.gym.headless.render.kit'), I receive the following error:
[19.510s] [ext: omni.isaac.occupancy_map-0.2.7] startup
Task Device: cuda:0
RL device: cuda:0
/opt/conda/envs/isaac-sim/lib/python3.7/site-packages/gym/spaces/box.py:74: UserWarning: WARN: Box bound precision lowered by casting to float32
"Box bound precision lowered by casting to {}".format(self.dtype)
[21.196s] [ext: omni.physx.flatcache-104.2.4-5.1] startup
2023-04-03 09:47:45 [24,967ms] [Warning] [omni.client.plugin] Tick: authentication: Could not resolve host name "isaac-dev.ov.nvidia.com"
2023-04-03 09:47:45 [24,971ms] [Warning] [omni.client.plugin] Tick: authentication: Could not resolve host name "isaac-dev.ov.nvidia.com"
2023-04-03 09:47:45 [24,975ms] [Warning] [omni.client.plugin] Tick: authentication: Could not resolve host name "isaac-dev.ov.nvidia.com"
2023-04-03 09:47:45 [24,980ms] [Warning] [omni.isaac.core.utils.nucleus] /persistent/app/omniverse/mountedDrives setting not found
2023-04-03 09:47:46 [26,009ms] [Error] [omni.kit.commands.command] Failed to execute a command: RangeSensorCreateLidar.
File "/opt/conda/envs/isaac-sim/lib/python3.7/runpy.py", line 193, in _run_module_as_main
"__main__", mod_spec)
File "/opt/conda/envs/isaac-sim/lib/python3.7/runpy.py", line 85, in _run_code
exec(code, run_globals)
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/__main__.py", line 39, in <module>
cli.main()
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/../debugpy/server/cli.py", line 430, in main
run()
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/../debugpy/server/cli.py", line 284, in run_file
runpy.run_path(target, run_name="__main__")
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 322, in run_path
pkg_name=pkg_name, script_name=fname)
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 136, in _run_module_code
mod_name, mod_spec, pkg_name, script_name)
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 124, in _run_code
exec(code, run_globals)
File "/workspaces/mobile-rl/run_sbl_fmm.py", line 61, in <module>
main()
File "/workspaces/mobile-rl/run_sbl_fmm.py", line 22, in main
env = initialize_my_task(cfg)
File "/workspaces/mobile-rl/mobile_rl/utils.py", line 110, in initialize_my_task
env.set_task(task=task, sim_params=sim_config.get_physics_params(), backend="torch", init_sim=init_sim)
File "/workspaces/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py", line 51, in set_task
super().set_task(task, backend, sim_params, init_sim)
File "/isaac-sim/exts/omni.isaac.gym/omni/isaac/gym/vec_env/vec_env_base.py", line 94, in set_task
self._world.reset()
File "/isaac-sim/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 275, in reset
task.set_up_scene(self.scene)
File "/workspaces/mobile-rl/mobile_rl/env/learn_base_task.py", line 74, in set_up_scene
self.env.set_up_scene(scene)
File "/workspaces/mobile-rl/mobile_rl/env/n2m2_task.py", line 294, in set_up_scene
center_to_rear_lidar_x=self._task_cfg["robot"]["center_to_rear_lidar_x"])
File "/workspaces/mobile-rl/mobile_rl/robots/pr2.py", line 159, in get_lidar_sensor
return PR2LidarSensor(prim_path=prim_path, max_range=max_range, center_to_front_lidar_x=center_to_front_lidar_x, center_to_rear_lidar_x=center_to_rear_lidar_x)
File "/workspaces/mobile-rl/mobile_rl/robots/pr2.py", line 95, in __init__
super().__init__(ignore_overlapping_pts=False, *args, **kwargs)
File "/workspaces/mobile-rl/mobile_rl/robots/lidar_sensor.py", line 22, in __init__
self.front_lidar_path, self.rear_lidar_path = self._create_lidars(prim_path=prim_path, max_range=max_range)
File "/workspaces/mobile-rl/mobile_rl/robots/pr2.py", line 113, in _create_lidars
result, prim = commands.execute("RangeSensorCreateLidar", path=front_lidar_path, **lidar_kwargs)
File "/isaac-sim/kit/extscore/omni.kit.commands/omni/kit/commands/command.py", line 459, in execute
result = omni.kit.undo.execute(command, name, kwargs)
[...skipped...]
File "/isaac-sim/kit/extscore/omni.kit.commands/omni/kit/undo/undo.py", line 77, in execute
result = _execute(command, name, level, history_key)
File "/isaac-sim/kit/extscore/omni.kit.commands/omni/kit/undo/undo.py", line 454, in _execute
raise error
File "/isaac-sim/kit/extscore/omni.kit.commands/omni/kit/undo/undo.py", line 415, in _execute
result = command.do()
File "/isaac-sim/exts/omni.isaac.range_sensor/omni/isaac/range_sensor/scripts/commands.py", line 137, in do
carb.log.error("Could not create lidar prim")
<class 'AttributeError'> 'builtin_function_or_method' object has no attribute 'error'
2023-04-03 09:47:46 [26,017ms] [Error] [omni.kit.commands.command] Failed to execute a command: RangeSensorCreateLidar.
File "/opt/conda/envs/isaac-sim/lib/python3.7/runpy.py", line 193, in _run_module_as_main
"__main__", mod_spec)
File "/opt/conda/envs/isaac-sim/lib/python3.7/runpy.py", line 85, in _run_code
exec(code, run_globals)
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/__main__.py", line 39, in <module>
cli.main()
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/../debugpy/server/cli.py", line 430, in main
run()
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/../debugpy/server/cli.py", line 284, in run_file
runpy.run_path(target, run_name="__main__")
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 322, in run_path
pkg_name=pkg_name, script_name=fname)
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 136, in _run_module_code
mod_name, mod_spec, pkg_name, script_name)
File "/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 124, in _run_code
exec(code, run_globals)
File "/workspaces/mobile-rl/run_sbl_fmm.py", line 61, in <module>
main()
File "/workspaces/mobile-rl/run_sbl_fmm.py", line 22, in main
env = initialize_my_task(cfg)
File "/workspaces/mobile-rl/mobile_rl/utils.py", line 110, in initialize_my_task
env.set_task(task=task, sim_params=sim_config.get_physics_params(), backend="torch", init_sim=init_sim)
File "/workspaces/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py", line 51, in set_task
super().set_task(task, backend, sim_params, init_sim)
File "/isaac-sim/exts/omni.isaac.gym/omni/isaac/gym/vec_env/vec_env_base.py", line 94, in set_task
self._world.reset()
File "/isaac-sim/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 275, in reset
task.set_up_scene(self.scene)
File "/workspaces/mobile-rl/mobile_rl/env/learn_base_task.py", line 74, in set_up_scene
self.env.set_up_scene(scene)
File "/workspaces/mobile-rl/mobile_rl/env/n2m2_task.py", line 294, in set_up_scene
center_to_rear_lidar_x=self._task_cfg["robot"]["center_to_rear_lidar_x"])
File "/workspaces/mobile-rl/mobile_rl/robots/pr2.py", line 159, in get_lidar_sensor
return PR2LidarSensor(prim_path=prim_path, max_range=max_range, center_to_front_lidar_x=center_to_front_lidar_x, center_to_rear_lidar_x=center_to_rear_lidar_x)
File "/workspaces/mobile-rl/mobile_rl/robots/pr2.py", line 95, in __init__
super().__init__(ignore_overlapping_pts=False, *args, **kwargs)
File "/workspaces/mobile-rl/mobile_rl/robots/lidar_sensor.py", line 22, in __init__
self.front_lidar_path, self.rear_lidar_path = self._create_lidars(prim_path=prim_path, max_range=max_range)
File "/workspaces/mobile-rl/mobile_rl/robots/pr2.py", line 116, in _create_lidars
result, prim = commands.execute("RangeSensorCreateLidar", path=rear_lidar_path, **lidar_kwargs_rear)
File "/isaac-sim/kit/extscore/omni.kit.commands/omni/kit/commands/command.py", line 459, in execute
result = omni.kit.undo.execute(command, name, kwargs)
[...skipped...]
File "/isaac-sim/kit/extscore/omni.kit.commands/omni/kit/undo/undo.py", line 77, in execute
result = _execute(command, name, level, history_key)
File "/isaac-sim/kit/extscore/omni.kit.commands/omni/kit/undo/undo.py", line 454, in _execute
raise error
File "/isaac-sim/kit/extscore/omni.kit.commands/omni/kit/undo/undo.py", line 415, in _execute
result = command.do()
File "/isaac-sim/exts/omni.isaac.range_sensor/omni/isaac/range_sensor/scripts/commands.py", line 137, in do
carb.log.error("Could not create lidar prim")
<class 'AttributeError'> 'builtin_function_or_method' object has no attribute 'error'
2023-04-03 09:47:50 [29,271ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/envs/env_0/rl_robot/bl_caster_l_wheel_link/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-04-03 09:47:50 [29,272ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/envs/env_0/rl_robot/fl_caster_r_wheel_link/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-04-03 09:47:50 [29,278ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/envs/env_0/rl_robot/fr_caster_l_wheel_link/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-04-03 09:47:50 [29,281ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/envs/env_0/rl_robot/fl_caster_l_wheel_link/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-04-03 09:47:50 [29,286ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/envs/env_0/rl_robot/fr_caster_r_wheel_link/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-04-03 09:47:50 [29,287ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/envs/env_0/rl_robot/br_caster_r_wheel_link/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-04-03 09:47:50 [29,287ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/envs/env_0/rl_robot/bl_caster_r_wheel_link/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-04-03 09:47:50 [29,297ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/envs/env_0/rl_robot/br_caster_l_wheel_link/collisions is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-04-03 09:47:50 [29,864ms] [Error] [carb.events.python] AttributeError: 'PlayButtonGroup' object has no attribute '_play_button'
At:
/isaac-sim/kit/exts/omni.kit.widget.toolbar/omni/kit/widget/toolbar/builtin_tools/play_button_group.py(129): _on_timeline_event
/isaac-sim/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py(549): play
/isaac-sim/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py(387): initialize_physics
/isaac-sim/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py(408): reset
/isaac-sim/exts/omni.isaac.core/omni/isaac/core/world/world.py(281): reset
/isaac-sim/exts/omni.isaac.gym/omni/isaac/gym/vec_env/vec_env_base.py(94): set_task
/workspaces/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py(51): set_task
/workspaces/mobile-rl/mobile_rl/utils.py(110): initialize_my_task
/workspaces/mobile-rl/run_sbl_fmm.py(22): main
/workspaces/mobile-rl/run_sbl_fmm.py(61): <module>
/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py(124): _run_code
/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py(136): _run_module_code
/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py(322): run_path
/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/../debugpy/server/cli.py(284): run_file
/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/../debugpy/server/cli.py(430): main
/root/.vscode-server/extensions/ms-python.python-2023.4.0/pythonFiles/lib/python/debugpy/adapter/../../debugpy/launcher/../../debugpy/__main__.py(39): <module>
/opt/conda/envs/isaac-sim/lib/python3.7/runpy.py(85): _run_code
/opt/conda/envs/isaac-sim/lib/python3.7/runpy.py(193): _run_module_as_main
I’m running this in the latest docker container, 2022.2.1.
Alternatively, I’ve also tried to use the rtx_lidar, but could not find any examples on how to get back the pointcloud without having to use the ros bridge.
Thanks a lot for your help.