[omni.physx.plugin] error running example

[elated-sawyer]

I'm trying to execute the example task:

python -m omnigibson.examples.scenes.scene_selector

and I'm encountering the following error message related to [omni.physx.plugin]:

2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0/scan_link 2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0_dummy/scan_link 2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0/gyro_link 2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0/cliff_sensor_right_link 2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0/cliff_sensor_left_link 2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0/cliff_sensor_front_link 2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0/camera_rgb_optical_frame 2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0/eyes 2024-03-25 22:34:33 [57,013ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/robot0/camera_depth_optical_frame ...... 2024-03-25 22:34:33 [57,047ms] [Warning] [carb] Client omni.physx.tensors.plugin has acquired [omni::physx::IPhysxSimulation v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) [WARNING] [omnigibson.utils.registry_utils] Object 'robot0' is not in the state dict to load from. Skip loading its state. 2024-03-25 22:34:33 [57,127ms] [Warning] [omnigibson.utils.registry_utils] Object 'robot0' is not in the state dict to load from. Skip loading its state.

I got to this interface:

then the OmniGibson shuts down in the progress of Resetting environment

[INFO] [omnigibson] Resetting environment [INFO] [omnigibson] Resetting environment [INFO] [omnigibson] Resetting environment 2024-03-25 22:35:24 [107,299ms] [Warning] [carb] Client omni.ui has acquired [omni::ui::IGlyphManager v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) [INFO] [omnigibson] Resetting environment [INFO] [omnigibson] ---------- Shutting Down OmniGibson ---------- 2024-03-25 22:35:30 [113,704ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. 2024-03-25 22:35:30 [113,704ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. 2024-03-25 22:35:30 [113,705ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. 2024-03-25 22:35:30 [113,705ms] [Warning] [omni.usd] Unexpected reference count of 2 for UsdStage 'anon:0x27b66270:World2.usd' while being closed in UsdContext (this may indicate it is still resident in memory). [113.787s] Simulation App Shutting Down 2024-03-25 22:35:30 [113,786ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/sawyer/Omniverse/Library/isaac_sim-2023.1.1/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request 2024-03-25 22:35:30 [113,838ms] [Warning] [omni.core.ITypeFactory] Module /home/sawyer/Omniverse/Library/isaac_sim-2023.1.1/kit/exts/omni.activity.core/bin/libomni.activity.core.plugin.so remained loaded after unload request.

How to solve this problem please? Thanks for the help!

[elated-sawyer]

According to https://docs.omniverse.nvidia.com/isaacsim/latest/known_issues.html, it looks like this is OK. The program works fine with the following commands python -m omnigibson.examples.robots.robot_control_example.

I will close this issue.

[cgokmen]

Hi, the [Error] [omni.physx.plugin] Transformation change on non-root links is not supported errors are benign, we will be silencing them in our next release. As for shutting down, that example shuts down after a few resets (take a look at the source code). Thanks!

[elated-sawyer]

Hi, the [Error] [omni.physx.plugin] Transformation change on non-root links is not supported errors are benign, we will be silencing them in our next release. As for shutting down, that example shuts down after a few resets (take a look at the source code). Thanks!

Thanks for the reply, got it!

[RookieXwc]

@cgokmen Hello, I have encountered the same issue. When will the new release plan that can solve this bug be launched?

[ChengshuLi]

@RookieXwc Replied to you in https://github.com/StanfordVL/OmniGibson/issues/892.