I am trying to use the navmesh extension. I tried to run it with the warehouse usd example and wasn’t able to create a navmesh.
Code:
"""
Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
This script demonstrates how to load environment scene data into isaac sim.
The scene data is expected in USD format.
Use omni.kit.asset_converter/asset_usd_converter.py to convert to USD format.
"""
import argparse
import traceback
from omni.isaac.kit import SimulationApp
# add argparse arguments
parser = argparse.ArgumentParser("Script to load environment scene")
parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
args_cli = parser.parse_args()
# !! Launch Isaac Sim Simulator first.!!
config = {"headless": args_cli.headless}
simulation_app = SimulationApp(config)
# !! Livestream settings should be after launching simulation app !!
import carb
from omni.isaac.core.utils.carb import set_carb_setting
from omni.isaac.core.utils.extensions import enable_extension
# settings interface
carb_settings = carb.settings.get_settings()
# set values
set_carb_setting(carb_settings, "/app/livestream/enabled", True)
set_carb_setting(carb_settings, "/app/window/drawMouse", True)
set_carb_setting(carb_settings, "/app/livestream/proto", "ws")
set_carb_setting(carb_settings, "/app/livestream/websocket/framerate_limit", 120)
set_carb_setting(carb_settings, "/ngx/enabled", False)
# enable extensions for live stream
enable_extension("omni.kit.livestream.native")
enable_extension("omni.services.streaming.manager")
# enable extension
from omni.isaac.core.utils import extensions
extensions.enable_extension("omni.anim.navigation.core")
simulation_app.update()
"""Rest everything follows."""
import omni.anim.navigation.core as nav
import omni.usd
from omni.isaac.core import World
from omni.isaac.core.simulation_context import SimulationContext
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage, is_stage_loading
from omni.isaac.core.utils.viewports import set_camera_view
ENV_URL = "/Isaac/Environments/Simple_Warehouse/full_warehouse.usd"
"""
Main
"""
def main():
"""Spawns lights in the stage and sets the camera view."""
# Add Robot
assets_root_path = get_assets_root_path()
if assets_root_path is None:
carb.log_error("Could not find Isaac Sim assets folder")
usd_asset_path = assets_root_path + ENV_URL
my_world = World(stage_units_in_meters=1.0)
add_reference_to_stage(usd_path=usd_asset_path, prim_path="/World/env")
my_world.scene.add_default_ground_plane(z_position=0.0)
# Wait two frames so that stage starts loading
simulation_app.update()
simulation_app.update()
# Its recommended to always do a reset after adding your assets, for physics handles to be propagated properly
my_world.reset()
# Load kit helper
sim = SimulationContext(physics_dt=0.01, rendering_dt=0.01, backend="torch")
# Set main camera
set_camera_view([0.4, 0.4, 0.4], [0.0, 0.0, 0.0])
simulation_app.update()
simulation_app.update()
# Navmesh Baking
stage = omni.usd.get_context().get_stage()
inav = nav.acquire_interface()
result = inav.start_navmesh_baking()
# result = inav.force_navmesh_baking()
print(f"Navmesh Baking result: {result}")
print("Loading stage...")
while is_stage_loading():
simulation_app.update()
print("Loading Complete")
# !!Required to do a reset before you can play the simulator!!
my_world.reset()
sim.reset()
# !!Now we are ready! Wait for this message before starting streaming!!
print("[INFO]: Setup complete...")
# Simulate physics
while simulation_app.is_running():
# If simulation is stopped, then exit
if my_world.is_stopped():
break
# !!Should be last command!!
# execute one physics step and one rendering step
my_world.step(render=True)
if __name__ == "__main__":
# main sim loop
try:
# Run IK example with Manipulator
main()
except Exception as err:
carb.log_error(err)
carb.log_error(traceback.format_exc())
raise
finally:
# close sim app
simulation_app.close()
Note - I am running the code on google cloud and thus have the livestream extension enabled.