LiDAR setup Isaac Sim 2023.1.1

Omniverse Isaac Sim
1

In the previous version of isaac (2023.0.1.hotfix) I was able to setup a LiDAR sensor the following way (as explained in the documentation)

_, lidar_2d = omni.kit.commands.execute(
  "IsaacSensorCreateRtxLidar",
  path=f"{self.wheelchair_stage_path}/base_link/lidar_2d",
  parent=None,
  config="RPLIDAR_S2E",
  translation=(0, 0, 0.1),  # mount lidar 0.2 m above ground
  orientation=Gf.Quatd(1, 0, 0, 0),  # Gf.Quatd is w,i,j,k
)
(
  texture_2d_lidar,
  render_product_path_2d_lidar,
) = utils.render_product.create_hydra_texture([1, 1], lidar_2d.GetPath().pathString)

self.annotator_2d = rep.AnnotatorRegistry.get_annotator(
  "RtxSensorCpuIsaacCreateRTXLidarScanBuffer"
)
self.annotator_2d.initialize(
  transformPoints=False, outputBeamId=True
)  # Keep data in lidar coordinate system
self.annotator_2d.attach([render_product_path_2d_lidar])

In the newest version this initialisation now results in the following error

    self.annotator_2d.attach([render_product_path_2d_lidar])
  File "/home/ryan/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/annotators.py", line 561, in attach
    sdg_iface.activate_node_template(
  File "/home/ryan/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.syntheticdata/omni/syntheticdata/scripts/SyntheticData.py", line 1448, in activate_node_template
    self._activate_node_rec(template_name, render_product_path_index, render_product_paths, render_var_activations)
  File "/home/ryan/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.syntheticdata/omni/syntheticdata/scripts/SyntheticData.py", line 1248, in _activate_node_rec
    connTemplateName = self._activate_node_rec(connTemplateName, 0 if connRenderProductPaths else -
  File "/home/ryan/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.syntheticdata/omni/syntheticdata/scripts/SyntheticData.py", line 1248, in _activate_node_rec
    connTemplateName = self._activate_node_rec(connTemplateName, 0 if connRenderProductPaths else -
  File "/home/ryan/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.syntheticdata/omni/syntheticdata/scripts/SyntheticData.py", line 1207, in _activate_node_rec
    nodePath = SyntheticData._get_node_path(templateName, renderProductPath)
  File "/home/ryan/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.syntheticdata/omni/syntheticdata/scripts/SyntheticData.py", line 915, in _get_node_path
    graphPath = SyntheticData._get_graph_path(nodeStage, renderProductPath)
  File "/home/ryan/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.syntheticdata/omni/syntheticdata/scripts/SyntheticData.py", line 903, in _get_graph_path
    prim = usdStage.GetPrimAtPath(renderProductPath)
Boost.Python.ArgumentError: Python argument types in
    Stage.GetPrimAtPath(Stage, NoneType)
did not match C++ signature:
    GetPrimAtPath(pxrInternal_v0_22__pxrReserved__::UsdStage {lvalue}, pxrInternal_v0_22__pxrReserved__::SdfPath path)

Do I have to adjust the LiDAR initialisation in some way to match the newest version?

3

Replace the create_hydra_texture call with rep.create.render_product, see the code example here:
https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_rtx_based_lidar.html#how-they-work

4

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