6.0.0
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5.0.0
4.5.0
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4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11
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GPU Information
- Model: 6000 ADA
- Driver Version: 580.126.09
Topic Description
Detailed Description
When Recording Scenes with the LidarRTX for some assets I get object IDs that are not in the StableIDMap. Therefore, I cant map to which prim they belong. I have seen this for different objects from the nvidia isaac sim library but it is very prevelant in the conveyors.
Steps to Reproduce
-
Copy into run.sh
#!/bin/bash # Get the path to the workspace directory SCRIPT_DIR="$(dirname "$(readlink -f "$0")")" PATH_WS=$(realpath "$SCRIPT_DIR/") set -e IMAGE_NAME="nvcr.io/nvidia/isaac-sim:5.1.0" # run container echo "Starting docker image" xhost + docker run --rm -it \ --name synthetic-data-generator --runtime=nvidia --gpus all --network=host \ --entrypoint bash \ -e "ACCEPT_EULA=Y" \ -e "PRIVACY_CONSENT=Y" \ -e DISPLAY=$DISPLAY \ -e ISAAC_SIM_EXTENSION_PATH="$ISAAC_SIM_EXTENSION_PATH:/workspace" \ -e "OMNI_USER=admin" \ -e "OMNI_PASS=admin" \ -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ -v $HOME/.Xauthority:/home/admin/.Xauthority:rw \ -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \ -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \ -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \ -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \ -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \ -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \ -v ~/docker/isaac-sim/documents:/root/Documents:rw \ -v $PATH_WS:/workspace:rw \ -w /workspace \ $IMAGE_NAME \ /isaac-sim/python.sh /workspace/minimal_recorder.py -c "$CONFIG" -
Copy into minimal_recorder.py in same directory.
import numpy as np from isaacsim.simulation_app import SimulationApp launch_config = { "width": 1920, "height": 1080, "headless": False, } simulation_app = SimulationApp(launch_config=launch_config) # Enable stable IDs for object ID tracking import carb settings = carb.settings.get_settings() settings.set("/rtx-transient/stableIds/enabled", True) print("Enabled /rtx-transient/stableIds/enabled=true") warehouse_file_path = "/workspace/FlattendComposedWarehouse.usd" from isaacsim.sensors.rtx import LidarRtx, get_gmo_data import omni # -- Load the stage from isaacsim.core.utils.stage import open_stage open_stage(warehouse_file_path) # -- Initialize the LidarRtx additional_attrs = {"omni:sensor:Core:auxOutputType": "FULL", "omni:sensor:Core:elementsCoordsType": "CARTESIAN", "omni:sensor:Core:outputFrameOfReference": "WORLD", "omni:sensor:Core:scanType": "ROTARY", "omni:sensor:Core:scanRateBaseHz": 60, # "omni:sensor:Core:numberOfChannels": 128, "omni:sensor:Core:intensityProcessing": "NORMALIZATION", "omni:sensor:Core:farRangeM": 200, "omni:sensor:Core:nearRangeM": 0.3, "omni:sensor:Core:rangeAccuracyM": 0.01, } lidar = LidarRtx( prim_path=f"/lidar_1", name="lidar_1", position=(0, 0, 0.8), **additional_attrs, ) lidar.initialize() lidar.attach_annotator("GenericModelOutput") lidar.attach_annotator("StableIdMap") timeline = omni.timeline.get_timeline_interface() if not timeline.is_playing(): timeline.play() settle_frames = 64 print(f"Warming up rendering pipeline ({settle_frames} frames)...") for _ in range(settle_frames): omni.kit.app.get_app().update() frame = lidar.get_current_frame() # Read out the frame data gmo_buffer = frame.get("GenericModelOutput") gmo_data = get_gmo_data(gmo_buffer) # Read out object IDs obj_ids = np.array(LidarRtx.get_object_ids(gmo_data.objId)) unique_obj_ids = np.unique(obj_ids) print(f"Unique Object IDs in the frame: {unique_obj_ids}") stable_id_map_buffer = lidar.get_current_frame()["StableIdMap"] stable_id_map = LidarRtx.decode_stable_id_mapping(stable_id_map_buffer.tobytes()) # print(f"Stable ID Map: {stable_id_map}") total_affected_points = 0 for id in unique_obj_ids: if id != 0 and id not in stable_id_map: print(f"Object ID {id} not found in stable ID map affecting {np.sum(obj_ids == id)} points.") total_affected_points += np.sum(obj_ids == id) print(f"Total points affected by missing stable ID mapping: {total_affected_points}/{np.sum(obj_ids != 0)}") while True: omni.kit.app.get_app().update() # Close SimulationApp gracefully simulation_app.close() -
Download the simple Scene and save to FlattendComposedWarehouse in same directory as the scripts:
FlattendComposedWarehouse.zip (16.0 MB)
