YCB Writer not working with PathTraced Rendering

marvin.wiedemann · September 5, 2022, 9:10am

Hi,

Playing around with the offline_pose_generation example (6. Offline Pose Estimation Synthetic Data Generation — Omniverse Robotics documentation), I faced a problem with the YCB writer. If I switch to PathTraced Rendering, I get an error within the generation process. In addition, the images are not saved, even if the logs output that the images are generated.

I am working on the latest Release Isaac Sim 2022.1.1.

Example logs:
ID: 4/59
2022-09-05 09:02:29 [60,424ms] [Error] [omni.graph.core.plugin] Assertion raised in compute - index 1431655765 is out of bounds for axis 0 with size 3
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/ogn/python/_impl/nodes/OgnWriter.py”, line 256, in compute
writer._write(writer_payload)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/writer_registry.py”, line 157, in _write
self.write(data)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.isaac/omni/replicator/isaac/scripts/writers/ycb_video_writer.py”, line 154, in write
self._write_semantic_segmentation(data, render_product_path, annotator)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.isaac/omni/replicator/isaac/scripts/writers/ycb_video_writer.py”, line 249, in _write_semantic_segmentation
segmentation_data_remapped = np.take(semantic_id_to_class_index_map, semantic_seg_data)
File “<array_function internals>”, line 6, in take
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/numpy/core/fromnumeric.py”, line 191, in take
return _wrapfunc(a, ‘take’, indices, axis=axis, out=out, mode=mode)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/numpy/core/fromnumeric.py”, line 58, in _wrapfunc
return bound(*args, **kwds)

ID: 5/59
ID: 6/59
ID: 7/59
2022-09-05 09:02:31 [62,222ms] [Error] [omni.graph.core.plugin] Assertion raised in compute - index 1431655761 is out of bounds for axis 0 with size 3
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/ogn/python/_impl/nodes/OgnWriter.py”, line 256, in compute
writer._write(writer_payload)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/writer_registry.py”, line 157, in _write
self.write(data)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.isaac/omni/replicator/isaac/scripts/writers/ycb_video_writer.py”, line 154, in write
self._write_semantic_segmentation(data, render_product_path, annotator)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.isaac/omni/replicator/isaac/scripts/writers/ycb_video_writer.py”, line 249, in _write_semantic_segmentation
segmentation_data_remapped = np.take(semantic_id_to_class_index_map, semantic_seg_data)
File “<array_function internals>”, line 6, in take
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/numpy/core/fromnumeric.py”, line 191, in take
return _wrapfunc(a, ‘take’, indices, axis=axis, out=out, mode=mode)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/numpy/core/fromnumeric.py”, line 58, in _wrapfunc
return bound(*args, **kwds)

ID: 8/59
ID: 9/59
ID: 10/59
2022-09-05 09:02:32 [63,754ms] [Error] [omni.graph.core.plugin] Assertion raised in compute - index 1414878545 is out of bounds for axis 0 with size 3
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/ogn/python/_impl/nodes/OgnWriter.py”, line 256, in compute
writer._write(writer_payload)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/writer_registry.py”, line 157, in _write
self.write(data)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.isaac/omni/replicator/isaac/scripts/writers/ycb_video_writer.py”, line 154, in write
self._write_semantic_segmentation(data, render_product_path, annotator)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.isaac/omni/replicator/isaac/scripts/writers/ycb_video_writer.py”, line 249, in _write_semantic_segmentation
segmentation_data_remapped = np.take(semantic_id_to_class_index_map, semantic_seg_data)
File “<array_function internals>”, line 6, in take
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/numpy/core/fromnumeric.py”, line 191, in take
return _wrapfunc(a, ‘take’, indices, axis=axis, out=out, mode=mode)
File “/home/mwiedema/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/numpy/core/fromnumeric.py”, line 58, in _wrapfunc
return bound(*args, **kwds)

ahaidu · September 7, 2022, 7:55am

Hi there,

thank you for reporting this, I can replicate the error and we will investigate the possible cause. For me however I only get the error once and the images and the data was successfully written. Were there any other parameters changed so I can try to fully replicate this?

Cheers,
Andrei

UPDATE: Interestingly I am not getting the error running on Linux with a dedicated GPU. Would it be possible to share your nvidia-smi output? Or even better the full log output when you get the error?

marvin.wiedemann · September 8, 2022, 11:13am

Hi Andrei,

Thanks for your reply! I am running the example on a Linux machine with dedicated GPU, too. I am using Ubuntu 22.04 with a RTX A5000 GPU.

nvidia-smi output:

  nvidia-smi
  Thu Sep  8 12:27:01 2022       
  +-----------------------------------------------------------------------------+
  | NVIDIA-SMI 510.85.02    Driver Version: 510.85.02    CUDA Version: 11.6     |
  |-------------------------------+----------------------+----------------------+
  | GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
  | Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
  |                               |                      |               MIG M. |
  |===============================+======================+======================|
  |   0  NVIDIA RTX A500...  Off  | 00000000:01:00.0  On |                  N/A |
  | N/A   65C    P5    31W /  N/A |    865MiB / 16384MiB |      2%      Default |
  |                               |                      |                  N/A |
  +-------------------------------+----------------------+----------------------+
                                                                                 
  +-----------------------------------------------------------------------------+
  | Processes:                                                                  |
  |  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
  |        ID   ID                                                   Usage      |
  |=============================================================================|
  |    0   N/A  N/A      3165      G   /usr/lib/xorg/Xorg                312MiB |
  |    0   N/A  N/A      3636      G   ...ome-remote-desktop-daemon        3MiB |
  |    0   N/A  N/A      3669      G   /usr/bin/gnome-shell              256MiB |
  |    0   N/A  N/A      4219      G   ...AAAAAAAAA= --shared-files       49MiB |
  |    0   N/A  N/A      6882      G   /usr/lib/firefox/firefox          235MiB |
  |    0   N/A  N/A     14955      G   gnome-control-center                3MiB |
  +-----------------------------------------------------------------------------+

The log-file:
isaac-logs.txt (52.5 KB)

And the config-file:
ycb_config.json (2.8 KB)

In addition, I checked some configs for the generation again.

Using “PathTracing” as parameter: Error appears
Using any other renderer param (even non-sense like “abc”): No error

And you are right, the images are generated for me now, independent of having this error message or not. It seems I have overseen the generated data last time or whatever…

Regards
Marvin

ahaidu · September 8, 2022, 1:39pm

Hi Marvin,

thanks for the detailed update. It seems the error appears when an integrated GPU (e.g. Intel) is available as well . I will create a bug request concerning the error. Regarding the render parameter, when you write “abc” the renderer just defaults to raytrace, hence no error.

Cheers,
Andrei

q199493422 · September 22, 2022, 8:55am

Hi,
I got the same errors using default renderer “RayTracedLighting”.
Is there any ways to fix this?

ahaidu · September 22, 2022, 1:14pm

Is the data being written?

q199493422 · September 22, 2022, 1:21pm

If the errors show, the data won’t be written.
Only part of frames showed the errors.

ahaidu · September 22, 2022, 1:26pm

Do you by any chance have a dual GPU setup? E.g. Intel + Nvidia? Could you share your nvidia-smi results?

q199493422 · September 23, 2022, 12:38am

I’m using vGPU.
nvidia-smi

ahaidu · September 23, 2022, 10:54am

Thank you for your report, I will update the bug report accordingly and ask around for any solution.

UPDATE error not recurring since 2022.2.+

system · January 19, 2023, 9:28am

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YCB Writer not working with PathTraced Rendering

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