Standalone Application - Forcing loading of untrusted extensions and enabling fabric scene delegate by default

onish-ai · June 24, 2024, 1:59pm

I am looking to create a standalone application in Isaac Sim 2023.1.1 that loads in the Cesium Ion extension and enables the fabric scene delegate so that Cesium Ion works. I want to do this because I do not want the application to require any user setup.

Currently, if I try to load cesium.omniverse I get the following error when the extension attempts to load its dependency [Error] [omni.ext.plugin] One of dependencies, extension 'cesium.usd.plugins-0.5.0' is untrusted. Install it manually from the extension manager UI and try again. even though the dependency is installed.

onish-ai · June 24, 2024, 3:04pm

Looks like I am able to enable the Cesium Ion extension if I already have it installed by adding it to apps/omni.isaac.sim.python.kit like so:

[dependencies]
"cesium.omniverse" = {}

However, I would still like to be able to enable it from the Python script so that I’m not always running the extension.

onish-ai · June 24, 2024, 4:10pm

Managed to get the Cesium Ion extension to load from a Python script by saving the extension in the /exts/ folder. However the Python script still doesn’t load, I assume this is because the fabric scene delegate is disabled by default.

onish-ai · June 24, 2024, 10:51pm

Figured out how to enable the Fabric Scene Delegate and related settings in Python, you need to set the following:

import carb
carb.settings.get_settings().set_bool("/app/useFabricSceneDelegate", True)
carb.settings.get_settings().set_bool("/app/usdrt/scene_delegate/enableProxyCubes", False)
carb.settings.get_settings().set_bool("/app/usdrt/scene_delegate/geometryStreaming/enabled", False)
carb.settings.get_settings().set_bool("/omnihydra/parallelHydraSprimSync", False)

Alternatively you could use SimulationApp:

from omni.isaac.kit import SimulationApp

CONFIG = {
    "width": 1280,
    "height": 720,
    "window_width": 1920,
    "window_height": 1080,
    "headless": True,
    "renderer": "RayTracedLighting",
    "display_options": 3286,  # Set display options to show default grid
}

simulation_app = SimulationApp(CONFIG)
simulation_app.set_setting("/app/useFabricSceneDelegate", True)
simulation_app.set_setting("/app/usdrt/scene_delegate/enableProxyCubes", False)
simulation_app.set_setting("/app/usdrt/scene_delegate/geometryStreaming/enabled", False)
simulation_app.set_setting("/omnihydra/parallelHydraSprimSync", False)
...
...
...
simulation_app.close()

Unfortunately, my simulation is still crashing when loading the Cesium Ion extension. Here is the log:

isaac-sim-1        | [27.053s] [ext: cesium.usd.plugins-0.5.0] startup
isaac-sim-1        | import 'cesium' # <_frozen_importlib_external._NamespaceLoader object at 0x7f723b5b0100>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.usd.plugins/cesium/usd/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.usd.plugins/cesium/usd/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.usd.plugins/cesium/usd/plugins/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.usd.plugins/cesium/usd/plugins/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | import 'cesium.usd.plugins' # <_frozen_importlib_external.SourceFileLoader object at 0x7f723b5b20b0>
isaac-sim-1        | import 'cesium.usd' # <_frozen_importlib_external.SourceFileLoader object at 0x7f723b5b2ad0>
isaac-sim-1        | [27.061s] [ext: omni.kit.capture.viewport-1.3.7] startup
isaac-sim-1        | import 'omni.kit.capture' # <_frozen_importlib_external._NamespaceLoader object at 0x7f72405bdcc0>
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/__init__.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/extension.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/__pycache__/extension.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/capture_options.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/__pycache__/capture_options.cpython-310.pyc'
isaac-sim-1        | import 'omni.kit.capture.viewport.capture_options' # <_frozen_importlib_external.SourceFileLoader object at 0x7f723653cee0>
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/capture_progress.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/__pycache__/capture_progress.cpython-310.pyc'
isaac-sim-1        | import 'omni.kit.capture.viewport.capture_progress' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7300980940>
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/video_generation.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/__pycache__/video_generation.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/singleton.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/__pycache__/singleton.cpython-310.pyc'
isaac-sim-1        | import 'omni.kit.capture.viewport.singleton' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724a1a0fa0>
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/helper.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.kit.capture.viewport/omni/kit/capture/viewport/__pycache__/helper.cpython-310.pyc'
isaac-sim-1        | import 'omni.kit.capture.viewport.helper' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724a1a0940>
isaac-sim-1        | import 'omni.kit.capture.viewport.video_generation' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7249df00a0>
isaac-sim-1        | import 'omni.kit.capture.viewport.extension' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72411430d0>
isaac-sim-1        | import 'omni.kit.capture.viewport' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72405bccd0>
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.kit.renderer.capture/omni/renderer_capture/__init__.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.kit.renderer.capture/omni/renderer_capture/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | import 'omni.renderer_capture' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7249df3310>
isaac-sim-1        | [27.089s] [ext: cesium.omniverse-0.21.0] startup
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/extension.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/__pycache__/extension.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/bindings/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/bindings/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # extension module 'cesium.omniverse.bindings.CesiumOmniversePythonBindings' loaded from '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/bindings/CesiumOmniversePythonBindings.cpython-310-x86_64-linux-gnu.so'
isaac-sim-1        | # extension module 'cesium.omniverse.bindings.CesiumOmniversePythonBindings' executed from '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/bindings/CesiumOmniversePythonBindings.cpython-310-x86_64-linux-gnu.so'
isaac-sim-1        | import 'cesium.omniverse.bindings.CesiumOmniversePythonBindings' # <_frozen_importlib_external.ExtensionFileLoader object at 0x7f72577da0b0>
isaac-sim-1        | import 'cesium.omniverse.bindings' # <_frozen_importlib_external.SourceFileLoader object at 0x7f723ed88310>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/styles.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/styles.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.styles' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7243331f30>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/quick_add_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/quick_add_widget.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/models/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/models/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/models/asset_to_add.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/models/__pycache__/asset_to_add.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.models.asset_to_add' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724e5aeec0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/models/raster_overlay_to_add.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/models/__pycache__/raster_overlay_to_add.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.models.raster_overlay_to_add' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7248938f40>
isaac-sim-1        | import 'cesium.omniverse.models' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724e5aec80>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.usd.plugins/cesium/usd/plugins/CesiumUsdSchemas/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.usd.plugins/cesium/usd/plugins/CesiumUsdSchemas/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # extension module 'cesium.usd.plugins.CesiumUsdSchemas._CesiumUsdSchemas' loaded from '/isaac-sim/exts/cesium.usd.plugins/cesium/usd/plugins/CesiumUsdSchemas/_CesiumUsdSchemas.so'
isaac-sim-1        | # extension module 'cesium.usd.plugins.CesiumUsdSchemas._CesiumUsdSchemas' executed from '/isaac-sim/exts/cesium.usd.plugins/cesium/usd/plugins/CesiumUsdSchemas/_CesiumUsdSchemas.so'
isaac-sim-1        | import 'cesium.usd.plugins.CesiumUsdSchemas._CesiumUsdSchemas' # <_frozen_importlib_external.ExtensionFileLoader object at 0x7f724f520340>
isaac-sim-1        | import 'cesium.usd.plugins.CesiumUsdSchemas' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7255b588b0>
isaac-sim-1        | import 'cesium.omniverse.ui.quick_add_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724338e590>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/sign_in_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/sign_in_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.sign_in_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7247d546a0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/profile_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/profile_widget.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/usdUtils/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/usdUtils/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/usdUtils/usdUtils.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/usdUtils/__pycache__/usdUtils.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.usdUtils.usdUtils' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7300584cd0>
isaac-sim-1        | import 'cesium.omniverse.usdUtils' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7300586320>
isaac-sim-1        | import 'cesium.omniverse.ui.profile_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72573d4070>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/token_window.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/token_window.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.token_window' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724893a9b0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/main_window.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/main_window.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/troubleshooter_window.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/troubleshooter_window.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/pass_fail_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/pass_fail_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.pass_fail_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7247d55cf0>
isaac-sim-1        | import 'cesium.omniverse.ui.troubleshooter_window' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72499474f0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/asset_window.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/asset_window.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/asset_details_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/asset_details_widget.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/date_model.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/__pycache__/date_model.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.models.date_model' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724cd02650>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/asset_window_models.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/__pycache__/asset_window_models.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.models.asset_window_models' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7249944220>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/space_delimited_number_model.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/__pycache__/space_delimited_number_model.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.models.space_delimited_number_model' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72577975b0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/human_readable_bytes_model.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/models/__pycache__/human_readable_bytes_model.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.models.human_readable_bytes_model' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72459001f0>
isaac-sim-1        | import 'cesium.omniverse.ui.models' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7247d57580>
isaac-sim-1        | import 'cesium.omniverse.ui.asset_details_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724a1a02e0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/search_field_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/search_field_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.search_field_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7245d3d960>
isaac-sim-1        | import 'cesium.omniverse.ui.asset_window' # <_frozen_importlib_external.SourceFileLoader object at 0x7f723f9ffd90>
isaac-sim-1        | import 'cesium.omniverse.ui.main_window' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724d53b670>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/debug_window.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/debug_window.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/statistics_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/statistics_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.statistics_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724f920310>
isaac-sim-1        | import 'cesium.omniverse.ui.debug_window' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7256f31e10>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes_widget_controller.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/attributes_widget_controller.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/data_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/data_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.data_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f725733d630>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/georeference_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/georeference_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.georeference_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72563157e0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/tileset_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/tileset_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.tileset_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724a1a1cf0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/globe_anchor_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/globe_anchor_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.globe_anchor_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7256f116c0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/ion_server_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/ion_server_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.ion_server_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7249993a30>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/ion_raster_overlay_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/ion_raster_overlay_attributes_widget.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/cesium_properties_widget_builder.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/cesium_properties_widget_builder.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.cesium_properties_widget_builder' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724f1152d0>
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.ion_raster_overlay_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72495442b0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/polygon_raster_overlay_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/polygon_raster_overlay_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.polygon_raster_overlay_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7245932740>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/tile_map_service_raster_overlay_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/tile_map_service_raster_overlay_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.tile_map_service_raster_overlay_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7256f31090>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/web_map_service_raster_overlay_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/web_map_service_raster_overlay_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.web_map_service_raster_overlay_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7257bd8370>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/web_map_tile_service_raster_overlay_attributes_widget.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/attributes/__pycache__/web_map_tile_service_raster_overlay_attributes_widget.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.attributes.web_map_tile_service_raster_overlay_attributes_widget' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72433c7a90>
isaac-sim-1        | import 'cesium.omniverse.ui.attributes' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7256f316c0>
isaac-sim-1        | import 'cesium.omniverse.ui.attributes_widget_controller' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72573a8b80>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/fabric_modal.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/fabric_modal.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.fabric_modal' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724f1152a0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/credits_window.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/credits_window.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/credits_parser.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/credits_parser.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/uri_image.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/uri_image.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.uri_image' # <_frozen_importlib_external.SourceFileLoader object at 0x7f723653f8e0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/image_button.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/image_button.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.image_button' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7242f6db40>
isaac-sim-1        | import 'cesium.omniverse.ui.credits_parser' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7256f12d70>
isaac-sim-1        | import 'cesium.omniverse.ui.credits_window' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7257bd8580>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/credits_viewport_frame.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/credits_viewport_frame.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/events.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/events.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.events' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724cd01f30>
isaac-sim-1        | import 'cesium.omniverse.ui.credits_viewport_frame' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7248dfc430>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/credits_viewport_controller.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/credits_viewport_controller.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.credits_viewport_controller' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724cd02b30>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/add_menu_controller.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/add_menu_controller.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.ui.add_menu_controller' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72573a80a0>
isaac-sim-1        | import 'cesium.omniverse.ui' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72563a55d0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/install/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/install/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/install/wheel_installer.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/install/__pycache__/wheel_installer.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/utils/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/utils/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/utils/utils.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/utils/__pycache__/utils.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.utils.utils' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7249992560>
isaac-sim-1        | import 'cesium.omniverse.utils' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7249990ee0>
isaac-sim-1        | import 'cesium.omniverse.install.wheel_installer' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7256b2cd60>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/install/vendor_install.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/install/__pycache__/vendor_install.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.install.vendor_install' # <_frozen_importlib_external.SourceFileLoader object at 0x7f723f94d1e0>
isaac-sim-1        | import 'cesium.omniverse.install' # <_frozen_importlib_external.SourceFileLoader object at 0x7f724f521cc0>
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/settings_window.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/ui/__pycache__/settings_window.cpython-310.pyc'
isaac-sim-1        | # code object from /isaac-sim/exts/cesium.omniverse/cesium/omniverse/utils/custom_fields.py
isaac-sim-1        | # created '/isaac-sim/exts/cesium.omniverse/cesium/omniverse/utils/__pycache__/custom_fields.cpython-310.pyc'
isaac-sim-1        | import 'cesium.omniverse.utils.custom_fields' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72445226b0>
isaac-sim-1        | import 'cesium.omniverse.ui.settings_window' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7249507940>
isaac-sim-1        | import 'cesium.omniverse.extension' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7249df0cd0>
isaac-sim-1        | import 'cesium.omniverse' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72415deda0>
isaac-sim-1        | # code object from /isaac-sim/exts/omni.exporter.urdf/pip_prebundle/lxml/__init__.py
isaac-sim-1        | # created '/isaac-sim/exts/omni.exporter.urdf/pip_prebundle/lxml/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | import 'lxml' # <_frozen_importlib_external.SourceFileLoader object at 0x7f7257bdac20>
isaac-sim-1        | 2024-06-24 22:44:55 [27,457ms] [Warning] [omni.fabric.plugin] carb::extras::HandleDatabase<Mapped, Handle, Allocator>::~HandleDatabase() [with Mapped = omni::fabric::FabricCache; Handle = omni::fabric::FabricId; Allocator = std::allocator<omni::fabric::FabricCache>]: had 5 outstanding handle(s) at shutdown
isaac-sim-1        | 2024-06-24 22:44:55 [27,458ms] [Warning] [cesium.omniverse.plugin] [2024-06-24 22:44:55.870] [cesium-omniverse] [warning] Cesium cache file: /root/.cache/ov/cesium-request-cache.sqlite
isaac-sim-1        | 
isaac-sim-1        | # extension module 'lxml.etree' loaded from '/isaac-sim/exts/omni.exporter.urdf/pip_prebundle/lxml/etree.cpython-310-x86_64-linux-gnu.so'
isaac-sim-1        | # extension module 'lxml._elementpath' loaded from '/isaac-sim/exts/omni.exporter.urdf/pip_prebundle/lxml/_elementpath.cpython-310-x86_64-linux-gnu.so'
isaac-sim-1        | # extension module 'lxml._elementpath' executed from '/isaac-sim/exts/omni.exporter.urdf/pip_prebundle/lxml/_elementpath.cpython-310-x86_64-linux-gnu.so'
isaac-sim-1        | import 'lxml._elementpath' # <_frozen_importlib_external.ExtensionFileLoader object at 0x7f725777b250>
isaac-sim-1        | # extension module 'lxml.etree' executed from '/isaac-sim/exts/omni.exporter.urdf/pip_prebundle/lxml/etree.cpython-310-x86_64-linux-gnu.so'
isaac-sim-1        | import 'lxml.etree' # <_frozen_importlib_external.ExtensionFileLoader object at 0x7f7249d1fd60>
isaac-sim-1        | # extension module 'omni.kit.loop._loop' loaded from '/isaac-sim/exts/omni.kit.loop-isaac/omni/kit/loop/_loop.cpython-310-x86_64-linux-gnu.so'
isaac-sim-1        | # extension module 'omni.kit.loop._loop' executed from '/isaac-sim/exts/omni.kit.loop-isaac/omni/kit/loop/_loop.cpython-310-x86_64-linux-gnu.so'
isaac-sim-1        | import 'omni.kit.loop._loop' # <_frozen_importlib_external.ExtensionFileLoader object at 0x7f72573d4dc0>
isaac-sim-1        | # code object from /isaac-sim/kit/exts/omni.usd.libs/pxr/UsdShaders/__init__.py
isaac-sim-1        | # created '/isaac-sim/kit/exts/omni.usd.libs/pxr/UsdShaders/__pycache__/__init__.cpython-310.pyc'
isaac-sim-1        | import 'pxr.UsdShaders' # <_frozen_importlib_external.SourceFileLoader object at 0x7f72b69096c0>
isaac-sim-1        | Fatal Python error: Segmentation fault
isaac-sim-1        | 
isaac-sim-1        | Current thread 0x00007f735ed4db80 (most recent call first):
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/topology_commands.py", line 644 in do_immediate
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/topology_commands.py", line 648 in do
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.kit.commands/omni/kit/undo/undo.py", line 419 in _execute
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.kit.commands/omni/kit/undo/undo.py", line 77 in execute
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.kit.commands/omni/kit/commands/command.py", line 463 in execute
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.kit.commands/omni/kit/commands/command.py", line 166 in execute_command
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/graph_controller.py", line 310 in __create_node
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/graph_controller.py", line 225 in create_node
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/controller.py", line 471 in <listcomp>
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/controller.py", line 470 in _process_create_nodes
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/controller.py", line 1246 in __do_the_edits
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/controller.py", line 1330 in __edit
isaac-sim-1        |   File "/isaac-sim/kit/exts/omni.graph/omni/graph/core/_impl/controller.py", line 1129 in edit
isaac-sim-1        |   File "/root/isaac-sim/Omniverse/my_application.py", line 87 in <module>
isaac-sim-1        | 
isaac-sim-1        | Extension modules: psutil._psutil_linux, psutil._psutil_posix, pydantic.errors, pydantic.utils, pydantic.validators, pydantic.networks, pydantic.types, pydantic.json, pydantic.decorator, pydantic.env_settings, pydantic.tools, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, omni.mdl.pymdlsdk._pymdlsdk, torch._C, torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, torch._C._special, scipy._lib._ccallback_c, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.sparse.linalg._isolve._iterative, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg._cythonized_array_utils, scipy.linalg._flinalg, scipy.linalg._solve_toeplitz, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg.cython_lapack, scipy.linalg.cython_blas, scipy.linalg._matfuncs_expm, scipy.linalg._decomp_update, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, scipy.spatial.transform._rotation, PIL._imaging, PIL._imagingft, numpy.linalg.lapack_lite, scipy.ndimage._nd_image, _ni_label, scipy.ndimage._ni_label, osqp._osqp, multidict._multidict, yarl._quoting_c, aiohttp._helpers, aiohttp._http_writer, aiohttp._http_parser, aiohttp._websocket, cchardet._cchardet, _cffi_backend, frozenlist._frozenlist, yaml._yaml, scipy.io.matlab._mio_utils, scipy.io.matlab._streams, scipy.io.matlab._mio5_utils, lxml._elementpath, lxml.etree (total: 90)
isaac-sim-1        | ./python.sh: line 41:    65 Segmentation fault      (core dumped) $python_exe "$@" $args
isaac-sim-1        | There was an error running python

I assume this has something to do with the how the Cesium Ion extension works. If I add the following to apps/omni.isaac.sim.python.kit then my simulation does not crash and Cesium Ion loads fine, however this means that every application will have Cesium Ion loaded and the Fabric Scene Delegate enabled by default.

# Cesium Ion                                                              
[dependencies]                                                            
"cesium.omniverse" = {}                                                 

[settings]                                                              
exts."cesium.omniverse".showOnStartup = false                           
app.useFabricSceneDelegate = true                                         
app.usdrt.scene_delegate.enableProxyCubes = false                         
app.usdrt.scene_delegate.geometryStreaming.enabled = false                
omnihydra.parallelHydraSprimSync = false

I assume this is now a question for the Cesium Ion forums, so I will be marking this as the solution for now.

system · July 8, 2024, 10:51pm

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.

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Standalone Application - Forcing loading of untrusted extensions and enabling fabric scene delegate by default

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