AttributeError: 'NoneType' object has no attribute 'is_system'

[aoloo-r]

I was configuring a scene and had had 'online_object_sampling' : True
here is my log file:

2024-11-07 22:26:17 [9,155ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost
[INFO] [omnigibson.simulator] Imported scene 0.
[WARNING] [omnigibson.robots.fetch] Fetch wheel links are post-processed to use sphere approximation collision meshes. Please ignore any previous errors about these collision meshes.
2024-11-07 22:26:18 [11,080ms] [Warning] [omnigibson.robots.fetch] Fetch wheel links are post-processed to use sphere approximation collision meshes. Please ignore any previous errors about these collision meshes.
[WARNING] [omnigibson.robots.fetch] Fetch wheel links are post-processed to use sphere approximation collision meshes. Please ignore any previous errors about these collision meshes.
2024-11-07 22:26:18 [11,081ms] [Warning] [omnigibson.robots.fetch] Fetch wheel links are post-processed to use sphere approximation collision meshes. Please ignore any previous errors about these collision meshes.
[ERROR] [omnigibson.utils.bddl_utils] initial_pre-sampling: Room type [living_room] of scene [Ihlen_0_int] do not contain or cannot sample all the objects needed.
The following are the possible room instances for each object, the intersection of which is an empty set.
floor.n.01_1: living_room_0
table.n.02_1:

2024-11-07 22:26:20 [12,576ms] [Error] [omnigibson.utils.bddl_utils] initial_pre-sampling: Room type [living_room] of scene [Ihlen_0_int] do not contain or cannot sample all the objects needed.
The following are the possible room instances for each object, the intersection of which is an empty set.
floor.n.01_1: living_room_0
table.n.02_1:

2024-11-07 22:26:20 [12,615ms] [Warning] [carb] Client omni.kit.viewport.legacy_gizmos has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2024-11-07 22:26:20 [12,705ms] [Warning] [carb] Client omni.kit.viewport.legacy_gizmos has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
Traceback (most recent call last):
File "/home/Austine/OmniGibson/vlm-tamp/eval.py", line 1059, in
env = og.Environment(configs=config)
File "/home/Austine/OmniGibson/omnigibson/utils/python_utils.py", line 93, in wrapper
func(*values.args, **values.kwargs)
File "/home/Austine/OmniGibson/omnigibson/envs/env_base.py", line 133, in init
self.post_play_load()
File "/home/Austine/OmniGibson/omnigibson/envs/env_base.py", line 438, in post_play_load
self.task.post_play_load(env=self)
File "/home/Austine/OmniGibson/omnigibson/tasks/task_base.py", line 133, in post_play_load
obs = self.get_obs(env=env, flatten_low_dim=True)
File "/home/Austine/OmniGibson/omnigibson/tasks/task_base.py", line 333, in get_obs
low_dim_obs, obs = self._get_obs(env=env)
File "/home/Austine/OmniGibson/omnigibson/tasks/behavior_task.py", line 378, in _get_obs
objs_exist = {obj: obj.exists for obj in self.object_scope.values() if not obj.is_system}
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'
2024-11-07 22:26:21 [13,517ms] [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
2024-11-07 22:26:21 [13,521ms] [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
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-11-07 22:26:21 [13,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-11-07 22:26:21 [13,742ms] [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

[aoloo-r]

@cgokmen

[hang-yin]

This usually happens when an object cannot be sampled correctly, which in this case should be table.n.02_1. @ChengshuLi can probably comment more on BDDL-related questions.

[ChengshuLi]

@aoloo-r Do you have a minimal reproducible script that you can share with us? The error you are seeing is unexpected - it's saying the living_room_0 doesn't have any table, but it indeed has two coffee tables. This error is triggered before actual kinematic sampling happens. My guess is that when you load the scene, you might have specified "load_object_categories" or "not_load_object_categories" so that the tables are not loaded into the scene at all. Let me know if this helps.