Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
GPU Information
- Model: RTX 3070
- Driver Version: nvidia-driver-550
Topic Description
I’ve installed Isaac Sim and Isaac Lab using based on this tutorial
I’m currently working on this tutorial
When I copy the first code snippet which is the following
import carb
from isaacsim import SimulationApp
import sys
BACKGROUND_STAGE_PATH = "/background"
BACKGROUND_USD_PATH = "/Isaac/Environments/Simple_Warehouse/warehouse_with_forklifts.usd"
CONFIG = {"renderer": "RayTracedLighting", "headless": False}
# Example ROS2 bridge sample demonstrating the manual loading of stages and manual publishing of images
simulation_app = SimulationApp(CONFIG)
import omni
import numpy as np
from isaacsim.core.api import SimulationContext
from isaacsim.core.utils import stage, extensions, nucleus
import omni.graph.core as og
import omni.replicator.core as rep
import omni.syntheticdata._syntheticdata as sd
from isaacsim.core.utils.prims import set_targets
from isaacsim.sensors.camera import Camera
import isaacsim.core.utils.numpy.rotations as rot_utils
from isaacsim.core.utils.prims import is_prim_path_valid
from isaacsim.core.nodes.scripts.utils import set_target_prims
# Enable ROS2 bridge extension
extensions.enable_extension("isaacsim.ros2.bridge")
simulation_app.update()
simulation_context = SimulationContext(stage_units_in_meters=1.0)
# Locate Isaac Sim assets folder to load environment and robot stages
assets_root_path = nucleus.get_assets_root_path()
if assets_root_path is None:
carb.log_error("Could not find Isaac Sim assets folder")
simulation_app.close()
sys.exit()
# Loading the environment
stage.add_reference_to_stage(assets_root_path + BACKGROUND_USD_PATH, BACKGROUND_STAGE_PATH)
###### Camera helper functions for setting up publishers. ########
# Paste functions from the tutorial here
# def publish_camera_tf(camera: Camera): ...
# def publish_camera_info(camera: Camera, freq): ...
# def publish_pointcloud_from_depth(camera: Camera, freq): ...
# def publish_depth(camera: Camera, freq): ...
# def publish_rgb(camera: Camera, freq): ...
###################################################################
# Create a Camera prim. Note that the Camera class takes the position and orientation in the world axes convention.
camera = Camera(
prim_path="/World/floating_camera",
position=np.array([-3.11, -1.87, 1.0]),
frequency=20,
resolution=(256, 256),
orientation=rot_utils.euler_angles_to_quats(np.array([0, 0, 0]), degrees=True),
)
camera.initialize()
simulation_app.update()
camera.initialize()
############### Calling Camera publishing functions ###############
# Call the publishers.
# Make sure you pasted in the helper functions above, and uncomment out the following lines before running.
approx_freq = 30
#publish_camera_tf(camera)
#publish_camera_info(camera, approx_freq)
#publish_rgb(camera, approx_freq)
#publish_depth(camera, approx_freq)
#publish_pointcloud_from_depth(camera, approx_freq)
####################################################################
# Initialize physics
simulation_context.initialize_physics()
simulation_context.play()
while simulation_app.is_running():
simulation_context.step(render=True)
simulation_context.stop()
simulation_app.close()
and run it as a python script, I get the following error
(env_isaaclab) tingsheng@tingsheng:~/Documents/Softwares/IsaacSim$ python3 publishing_camera_data.py
Traceback (most recent call last):
File "/home/tingsheng/Documents/Softwares/IsaacSim/publishing_camera_data.py", line 1, in <module>
import carb
ModuleNotFoundError: No module named 'carb'
How do I resolve the import issue? Besides, what is the difference between these two installation? I get that the first one include the installation of Isaac Lab, but is there a difference when using the Isaac Sim?