ModuleNotFoundError: No module named 'omni'

Omniverse Isaac Sim
1

Hi, I’m seeing this error: ModuleNotFoundError: No module named ‘omni’ when I tried running code in vscode.
my interpreter path has already been set to ~\AppData\Local\ov\pkg\isaac_sim-2023.1.1\kit\python.
I’m using windows. No idea what’s wrong

2

@khooweiquan2014 do you think this tutorial would help?

https://docs.omniverse.nvidia.com/isaacsim/latest/manual_standalone_python.html#visual-studio-code-vscode-support

3

is my tasks.json suppsoed to look like this?[see below] or am I supposed to edit it to look like what’s in the tutorial?

{
    // See https://go.microsoft.com/fwlink/?LinkId=733558
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "tasks": [
    ]
}
4

I managed to fix it by adding the following lines to the python file[see below]

import os
from omni.isaac.kit import SimulationApp

simulation_app = SimulationApp({"headless": False,  "open_usd": "C:/Users/resce/AppData/Local/ov/pkg/isaac_sim-2023.1.1/usd/reacher.usd"})

and using windows command prompt, navigating to isaac-sim folder & running ./python.bat .
Now I’m getting the error:
2024-02-05 09:17:17 [18,053ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at ‘/reacher/base_link’

Below is my code[without the import part], not sure what’s wrong

simulation_app.update()
dc = _dynamic_control.acquire_dynamic_control_interface()

articulation = dc.get_articulation("/reacher/base_link")
dc.wake_up_articulation(articulation)
dof_ptr = dc.find_articulation_dof(articulation, "RevoluteJoint_1")

for i in range(500):
    rotation = dc.get_dof_position(dof_ptr)
    print(rotation)
    dc.set_dof_position(dof_ptr, rotation-0.04)
    simulation_app.update()
5

Hi @khooweiquan2014 - What document are you following where you are seeing this issue?

Also, try following code:

import os
from omni.isaac.kit import SimulationApp
from omni.isaac.dynamic_control import _dynamic_control

simulation_app = SimulationApp({
    "headless": False,
    "open_usd": "C:/Users/resce/AppData/Local/ov/pkg/isaac_sim-2023.1.1/usd/reacher.usd"
})

simulation_app.update()

dc = _dynamic_control.acquire_dynamic_control_interface()

# Use the articulation's root path instead of the base link if necessary
articulation = dc.get_articulation("/reacher")

# Make sure the articulation was found before proceeding
if articulation == _dynamic_control.NULL_HANDLE:
    print('Articulation not found!')
else:
    dc.wake_up_articulation(articulation)
    dof_ptr = dc.find_articulation_dof(articulation, "RevoluteJoint_1")

    for i in range(500):
        rotation = dc.get_dof_position(dof_ptr)
        print(rotation)
        dc.set_dof_position(dof_ptr, rotation-0.04)
        simulation_app.update()
6

Hello,
I’m trying to follow this example: 2.4. Assemble a Simple Robot — Omniverse IsaacSim latest documentation
Is there an example that shows how to apply articulation root for robotic arm? I cant find it anywhere and documentations are not really helping

7

by the way, I’m getting the following error after applying your changes:
2024-02-13 01:49:27 [Error] [omni.kit.app.plugin] [py stderr]: AttributeError: module ‘omni.isaac.dynamic_control._dynamic_control’ has no attribute ‘NULL_HANDLE’

8

Hi, I managed to get it working.
I just need do the following before importing anything else:

from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({"headless": False,  "open_usd": "C:/Users/resce/AppData/Local/ov/pkg/isaac_sim-2023.1.1/usd/reacher.usd"})

After which, I followed the time_stepping.py and added the parts for SimulationContext.
I’m just getting a message during rendering saying that material render context has been changed. Not sure how to fix this. Otherwise, thanks for the help.