MotionBVH for lidar model not enabled?

Omniverse Isaac Sim
1

RTX lidar related issue when going from Isaac 2023.1.1 to 4.0.0, Win 10 the code ran fine in 2023.1.1,

When you copy the code found in latest docs below in the script editor, an INFO message is produced constantly “MotionBVH for lidar not enabled”? Really annoying as if your running print statements in the console this continues playing even when the sim is stopped.

https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_rtx_based_lidar.html

Secondly when i try to run the config for ZVISIONML30S the buffer and dataptr is empty suggesting that the sensor is not outputting anything. You can see in the two similar pics, that the second has data lidar_config = “Sick_TiM781” and the first lidar_config = “ZVISION_ML30S” does not Copy pasta that into the script editor, that should boot the ZVISION_ML30S head but I think there is an issue and It would be good to know how to resolve the BVH issue. Cheers! -------------------------------------------- import omni.kit.commands from pxr import Gf import omni.replicator.core as rep lidar_config = “ZVISION_ML30S”

  1. Create The Camera
    , sensor = omni.kit.commands.execute( “IsaacSensorCreateRtxLidar”, path=“/sensor”, parent=None, config=lidar_config, translation=(0, 0, 1.0), orientation=Gf.Quatd(1,0,0,0), )

  1. Create and Attach a render product to the camera

render_product = rep.create.render_product(sensor.GetPath(), [1, 1])

  1. Create Annotator to read the data from with annotator.get_data()

annotator = rep.AnnotatorRegistry.get_annotator(“RtxSensorCpuIsaacCreateRTXLidarScanBuffer”) annotator.attach(render_product)

  1. Create a Replicator Writer that “writes” points into the scene for debug viewing

writer = rep.writers.get(“RtxLidarDebugDrawPointCloudBuffer”) writer.attach(render_product)

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3

Hello,

What GPU are you running Isaac Sim with? Isaac Sim 4.0.0 is using a newer version of the omni.sensors extensions, which now use MotionBVH for modeling the RTX lidar returns. MotionBVH is enabled if you are running with Vulkan (by default, Isaac Sim now enables Vulkan on Windows, unless you’ve explicitly disabled it) AND you’re running with Ampere architecture or later.

Are you seeing an empty dataptr forSick_TiM781 as well, or only ZVISION_ML305?

Thanks!

4

Thanks for the reply RTX 3090

the ZVISION_ML305

What is the work around for this atm?

I think this might be realted but i thought i would just put it here.

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5

For the same issue, I am using XT_32_10hz RTX lidar in Isaac lab.
So what is MotionBVH and how to enable MotionBVH?
The log is full of this information:

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6

As far as I’m aware an update is coming which should fix these so probably use 2023 for now if you are planning to use the lidar… A little annoying but is what it is

7

Thank you for your reply. It seems that isaac 4.0 is not a stable version. Looking forward to releasing a new version soon.

8

Unfortunately, this problem still exists in the latest Isaac sim4.1.0 version.
This message has been printed repeatedly.
2024-07-30 01:07:19 [Info] [omni.sensors.nv.lidar.lidar_core.plugin] MotionBVH for lidar model not enabled. This will result in an incorrect point cloud without motion effects!

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9

Hi,

I pulled the Isaac Sim 4.1 image onto a machine with an RTX 3090 and ran

./python.sh standalone_examples/api/omni.isaac.debug_draw/rtx_lidar.py --config Hesai_XT32_SD10

to test the Hesai XT32 SD10 lidar. I did not see any motionBVH Info statements in the logs.

As a sanity check, what is the version of the omni.isaac.sensor extension you’re working with?

10

This is still an issue in 4.2 sadly

I have also tried other jsons and its the same.

To create this i just copied the text directly into the script editor and ran it. the same thing happens when its ran in a script node.

I used the code directly from the docs found here

https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_rtx_based_lidar.html

import omni.kit.commands
from pxr import Gf
import omni.replicator.core as rep
lidar_config = “Example_Rotary”

1. Create The Camera

_, sensor = omni.kit.commands.execute(
“IsaacSensorCreateRtxLidar”,
path=“/sensor”,
parent=None,
config=lidar_config,
translation=(0, 0, 1.0),
orientation=Gf.Quatd(1,0,0,0),
)

2. Create and Attach a render product to the camera

render_product = rep.create.render_product(sensor.GetPath(), [1, 1])

3. Create Annotator to read the data from with annotator.get_data()

annotator = rep.AnnotatorRegistry.get_annotator(“RtxSensorCpuIsaacCreateRTXLidarScanBuffer”)
annotator.attach(render_product)

4. Create a Replicator Writer that “writes” points into the scene for debug viewing

writer = rep.writers.get(“RtxLidarDebugDrawPointCloudBuffer”)
writer.attach(render_product)

11

“MotionBVH is enabled if you are running with Vulkan”

I’m running an RTX 3090 and 3080, across two machines. Is there something I need to do to disable vulkan or enable it?

thanks

12

Hi, sorry to hear this is still presenting. You’re on Windows 10, correct?

13

Both win 10 i9, RTX3 090 64bg and 11, i7 RTX 3080ti.

14

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15

Thanks, I’ll attempt to repro again with your configuration. Could you also provide the output of .\isaac_sim.bat --/app/printConfig=1? This will print all settings to the console. Alternatively, from Python you can try

from isaacsim import SimulationApp
kit = SimulationApp()
import carb
all_settings = carb.settings.get_settings().get_settings_dictionary("") 
print(all_settings)
16

here is the following file it says vulkan false
config_output.txt (163.7 KB)

“vulkan”: false

17

I am also observing the same issue when running the standalone LiDAR example you referenced:

$ ./python.sh standalone_examples/api/omni.isaac.debug_draw/rtx_lidar.py --config Hesai_XT32_SD10

Along with the same MotionBVH error logs, I am observing flickering of my viewport rendering (when the LiDAR is active) for some reason. This flickering happens most of the time when I run this kind of environment but there were a few instances where the flickering didn’t occur and I’m not sure why.

I have attached an animated GIF of the flickering:

isaac-sim-from-launcher

Running nvidia-smi gives the following:

+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 560.35.03              Driver Version: 560.35.03      CUDA Version: 12.6     |
|-----------------------------------------+------------------------+----------------------+

I am using the Linux kernel version 6.10.

I also extracted the app configuration as you described earlier and it is showing that vulkan is enabled (vulkan: true).

18

Thats not good…

19

I actually ran two working types of file tonight with no errors.

It seems on my end is that a file on version 2023 gen isn’t porting over to 4.2 properly.

I’m building a stand alone atm

So I might just run with that for now… I’ll get back to you all.

Cheers

20

Hi @adevalla

i’m still having this issue, i thought id solved it but for some reason it seems to have came back or i didnt have the info selected in the console. I did some more digging and I have the following version of vulcan running.

Vulkan Instance Version 1.3.290

obviously from the config output format it says “vulkan”: false so im not to sure how to proceed from here?

thanks

21

little more info here

I only have the issue if i run IS with the standard bat file. If i run the standalone mode the fault dosent repo, again this is just using the standard script from the latest docs for rtx lidar

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