Sudden termination of OmniGibson

[cho-jang-hyun]

Dear OmniGibson team,

First of all, thank you for your amazing project! I truly appreciate your hard work.

I am encountering an issue while using OmniGibson. Specifically, after launching OmniGibson, I see the following error messages with unexpected termination in the following situations:

• Adding parameters in Isaac Utils > Common Omnigraphs > ROS2 Camera
• Loading a USD file
• Pressing the Stop button

2025-02-07 13:30:50 [205,494ms] [Warning] [omni.isaac.core.articulations.articulation_view] ArticulationView needs to be initialized.
2025-02-07 13:30:50 [205,494ms] [Warning] [omni.isaac.core.articulations.articulation_view] ArticulationView needs to be initialized.
Traceback (most recent call last):
.
.
.
  File "/home/ubuntu/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physics.tensors/omni/physics/tensors/impl/api.py", line 435, in get_dof_positions
    raise Exception("Failed to get DOF positions from backend")
Exception: Failed to get DOF positions from backend
2025-02-07 13:30:50 [205,501ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/ubuntu/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
2025-02-07 13:30:50 [205,505ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/ubuntu/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-02-07 13:30:50 [205,508ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2025-02-07 13:30:50 [205,609ms] [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

Current thread 0x00007e06ead73740 (most recent call first):
  <no Python frame>

Extension modules: numpy.core. ... 

I would greatly appreciate any insights or assistance from the maintainers or the community.

Thank you in advance for your support!

[hang-yin]

Hi @cho-jang-hyun , thanks for reaching out! We would usually not recommend mixing OmniGibson and raw IsaacSim functionalities as this is not at all tested in our code. Is there a specific reason why you want to use the ros2 camera from isaac? We don't yet have plans to support ros but if there's a good reason in your specific use case, we can potentially work together to see how this can work.
My guess for why the error message shows up is during simulation stop (the button press), some resetting behavior happens and messes with our articulation view life cycle management. Do you mind posting some more details on what specifically you are importing?

[cho-jang-hyun]

Hello, thank you for your response.

My goal is to collect camera images, odometry data, and other sensor information from a robot operating in the OmniGibson environment using ROS 2 bag and integrate it into my project. As part of this process, I attempted to use ROS 2 within OmniGibson and encountered the mentioned issues when loading USD files or adding ROS parameters using Isaac Sim’s features.

Additionally, after entering the quickstart command, OmniGibson launched successfully. However, even without performing any further actions, simply pressing the Stop button caused OmniGibson to crash unexpectedly.

python -m omnigibson.examples.robots.robot_control_example --quickstart

If this issue remains unresolved, I will also investigate possible solutions on my end.

Thank you.

[cho-jang-hyun]

I have uploaded a video of the issue on YouTube. I would appreciate it if you could take a look.

https://youtu.be/-_sWB9hlJ7o?si=CQ1Le8U_kxjD9VPU

[ChengshuLi]

Thanks for the video. The short answer is: you should not press the stop button. The reason is that the robot control example constantly queries robot joint states for the controllers. When the sim is stopped, querying joint states will causes the invalid physics backend handle error that you saw. Hope this helps.