Question on og_dataset/scenes/Ihlen_0_int/ and g_dataset/scenes/Merom_0_int

[Roythescientist]

Hello, I had a task on store_firewood, and I used the one pre-sampled initial configuration Merom_0_int/json/Merom_0_int_task_store_firewood_0_0_template.json. I get an error that there are missing texture files for various firewood models in the scene. The textures such as normalmap_texture, metallic_texture, reflectionroughness_texture, and diffuse_texture (albedo) cannot be found at the specified locations in the materials directory and then gives an error of Segmentation fault (core dumped) and then close the stage and when I use Ihlen_0_int it says FileNotFoundError: [Errno 2] No such file or directory: '/home/Austine/OmniGibson/omnigibson/data/og_dataset/scenes/Ihlen_0_int/json/Ihlen_0_int_task_store_firewood_0_0_template.json'

However,when I use online sample a task in this scene by putting online_sampling=True in BehaviorTask and specifying the scene name to Ihlen_0_int or use Merom_0_int it gives an attribute error: File "/home/Austine/OmniGibson/omnigibson/tasks/behavior_task.py", line 378, in
objs_exist = {obj: obj.exists for obj in self.object_scope.values() if not obj.is_system}
AttributeError: 'NoneType' object has no attribute 'is_system'

[Roythescientist]

@cgokmen @ChengshuLi

[cgokmen]

You can ignore the texture issues, they are because of our encrypted file format but the texture does actually show up correctly.

There is no offline-sampled copy of the same task on Ihlen_0_int, which is why the file cannot be found.

Re: the 3rd issue, that seems to be a bug & we will look into it asap. @hang-yin

[Roythescientist]

So for the first case even if I ignore them it opens upto three viewpoints and then eventually comes and close the isaac sim after displaying this error:
[WARNING] [omnigibson.action_primitives.starter_semantic_action_primitives] The StarterSemanticActionPrimitive is a work-in-progress and is only provided as an example. It currently only works with Fetch and Tiago with their JointControllers set to delta mode.
2024-10-14 18:17:26 [17,159ms] [Warning] [omnigibson.action_primitives.starter_semantic_action_primitives] The StarterSemanticActionPrimitive is a work-in-progress and is only provided as an example. It currently only works with Fetch and Tiago with their JointControllers set to delta mode.
2024-10-14 18:17:26 [17,159ms] [Warning] [omni.isaac.core.articulations.articulation_view] ArticulationView needs to be initialized.
Traceback (most recent call last):
File "/home/Austine/OmniGibson/vlm-tamp/eval.py", line 1072, in
ap = StarterSemanticActionPrimitives(env)
File "/home/Austine/OmniGibson/omnigibson/action_primitives/starter_semantic_action_primitives.py", line 339, in init
pos_relative = control_dict[f"{eef}_pos_relative"]
File "/home/Austine/OmniGibson/omnigibson/utils/python_utils.py", line 588, in getitem
return self.get(name=item)
File "/home/Austine/OmniGibson/omnigibson/utils/python_utils.py", line 606, in get
return self.fcns[name](*args, **kwargs)
File "/home/Austine/OmniGibson/omnigibson/robots/manipulation_robot.py", line 425, in
fcns[f"eef{arm}_pos_relative"] = lambda: fcns[f"eef{arm}_pos_quat_relative"][0]
File "/home/Austine/OmniGibson/omnigibson/utils/python_utils.py", line 588, in getitem
return self.get(name=item)
File "/home/Austine/OmniGibson/omnigibson/utils/python_utils.py", line 606, in get
return self._fcns[name](*args, **kwargs)
File "/home/Austine/OmniGibson/omnigibson/robots/manipulation_robot.py", line 421, in
lambda: ControllableObjectViewAPI.get_link_relative_position_orientation(
File "/home/Austine/OmniGibson/omnigibson/utils/usd_utils.py", line 1282, in get_link_relative_position_orientation
return cls._VIEWS_BY_PATTERN[cls._get_pattern_from_prim_path(prim_path)].get_link_relative_position_orientation(
File "/home/Austine/OmniGibson/omnigibson/utils/usd_utils.py", line 1059, in get_link_relative_position_orientation
pos, orn = self.get_link_transform(prim_path, link_name)
File "/home/Austine/OmniGibson/omnigibson/utils/usd_utils.py", line 1051, in get_link_transform
self._read_cache["link_transforms"] = self._view.get_link_transforms()
File "/home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physics.tensors/omni/physics/tensors/impl/api.py", line 366, in get_link_transforms
raise Exception("Failed to get link tranforms from backend")
Exception: Failed to get link tranforms from backend
2024-10-14 18:17:26 [17,177ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.4+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-10-14 18:17:26 [17,181ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request

[Roythescientist]

@cgokmen @ChengshuLi kindly help me out with this

[ChengshuLi]

Hi, I am actually unable to reproduce your issue.

In behavior_env_example.py, I added the following two lines:

cfg["task"]["activity_name"] = "store_firewood"
cfg["scene"]["scene_model"] = "Merom_0_int"  # "Ihlen_0_int"

Both Merom_0_int and Ihlen_0_int works for online_sampling=True

I also tested and verified that Merom_0_int works with online_sampling=False.

[Roythescientist]

When I change the online_object_samplingof Ihlen_0_init to True it brings this error:
File "/home/Austine/OmniGibson/omnigibson/tasks/behavior_task.py", line 378, in
objs_exist = {obj: obj.exists for obj in self.object_scope.values() if not obj.is_system}
AttributeError: 'NoneType' object has no attribute 'is_system'
2024-10-14 22:07:48 [12,023ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.4+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-10-14 22:07:48 [12,027ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:07:48 [12,029ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-10-14 22:07:49 [12,221ms] [Warning] [carb] Client omni.syntheticdata.plugin Failed to acquire interface [omni::graph::core::INode v4.10] while unloading all plugins
Fatal Python error: Segmentation fault

[Roythescientist]

When I live online_object sampling to be False for Merom_0_int then it starts and then displays like 4 viewpoints and then quit. with an Exception: Failed to get link tranforms from backend here is the error in file:

File "/home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physics.tensors/omni/physics/tensors/impl/api.py", line 366, in get_link_transforms
raise Exception("Failed to get link tranforms from backend")
Exception: Failed to get link tranforms from backend
2024-10-14 22:13:29 [16,624ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.4+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-10-14 22:13:29 [16,631ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-10-14 22:13:29 [16,634ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,634ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,634ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,634ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,634ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,634ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,634ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,634ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,635ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,635ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,635ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-14 22:13:29 [16,635ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-10-14 22:13:29 [16,793ms] [Warning] [carb] Client omni.syntheticdata.plugin Failed to acquire interface [omni::graph::core::INode v4.10] while unloading all plugins
Fatal Python error: Segmentation fault

[Roythescientist]

@cgokmen @ChengshuLi @hang-yin

[ChengshuLi]

Hmmm sorry I am still unable to reproduce your issue. Please make sure you used the latest OmniGibson, the latest og_dataset, and the latest BDDL.

[Roythescientist]

Hello, @cgokmen said that it will show that because the file is encypted but I keep on facing this issue it shows this exception before exiting:
Exception: Failed to get link tranforms from backend
2024-10-16 20:42:12 [17,867ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.4+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-10-16 20:42:12 [17,870ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:42:12 [17,873ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-10-16 20:42:13 [18,050ms] [Warning] [carb] Client omni.syntheticdata.plugin Failed to acquire interface [omni::graph::core::INode v4.10] while unloading all plugins
Fatal Python error: Segmentation fault

[Roythescientist]

It actually closes isaac sim without me closinng it

[Roythescientist]

@cgokmen @ChengshuLi @hang-yin

[Roythescientist]

File "/home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/tasks/behavior_task.py", line 378, in
objs_exist = {obj: obj.exists for obj in self.object_scope.values() if not obj.is_system}
AttributeError: 'NoneType' object has no attribute 'is_system'
2024-10-16 20:49:17 [12,436ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.4+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-10-16 20:49:17 [12,440ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/Austine/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-16 20:49:17 [12,442ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-10-16 20:49:17 [12,597ms] [Warning] [carb] Client omni.syntheticdata.plugin Failed to acquire interface [omni::graph::core::INode v4.10] while unloading all plugins
Fatal Python error: Segmentation fault