So I noticed that ISAAC SIM now supports ISAAC Gym integration to set up environments. Is my understanding correct that https://github.com/NVIDIA-Omniverse/IsaacGymEnvs is now deprecated and https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs is now the way to go to set up RL enviorments for ISAAC …

I am trying to find solution to that, too. I’ve been able to create viewports in python and sat active camera for each one, but sadly could not load image data from the ISAAC SIM using Synthetic Data Helper. Also, I stumbled upon one problem, where Camera is already created in USD, and I access it…

Hello, I also use the Synthetic Data Helper. I have no problem to get the camera image. Here is an example code of how I do it: import math import omni from omni.isaac.kit import SimulationApp headless = False simulation_app = SimulationApp({"headless": headless}) # we can also run as headless. …

Thank you for your help. I appreciate it and would also try to integrate it to my application. One other question, if I may ask? It’s about having multiple cameras in the scene. Since each view port consumes GPU memory I would like to limit everything to single view port instance and just switch a…

You’re welcome. I didn’t find how to do it, maybe someone else has the answer

Hello, Thank you for your time. I’ve seen that function, but in debug mode my batch of images data is the same across first dimension. What I mean is that I get same image for each viewport. My concern is refresh of the viewport, when does it update. I had no time to test the code today, but I wi…

Not seeing things close to the camera is the near clipping range. In the above example it would be: "clippingRange": (self.__near, self.__far) you can put self.__near to 0 or something very small.

Thank you for your efforts. I was able to test the code with multiple cameras and single viewport, sadly it’s not working. My guess is that image buffer in GPU memory is updated once per step and multiple viewports need to be open at the same time. Which makes sense, they are allocating memory and …

Is there any update about the problem? I’m struggling to get data from multiple cameras together, and switching between viewport doesn’t seem a viable solution to me. Also, i need to get the image only at the end of the action in my RL environment and the camera remains active for the entire actio…

Just came across this example: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/omniisaacgymenvs/tasks/cartpole_camera.py Do you think this will be of use?

Omniverse ISAAC Gym - Access camera stream

Robotics & Edge Computing Robotics - Isaac Isaac Gym

ahaidu August 29, 2022, 5:41pm 6

Hi there,

similar to line 24 from this example, would using set_active_camera work for your use case?

Cheers,
Andrei

Differences Between IsaacGymEnvs and OmniIsaacGymEnvs?

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Omniverse ISAAC Gym - Access camera stream

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