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Occupancy Map dimensions are (0, 0, 0) in environment_utils.py
(generate_map()
)
#3
Comments
Hi there, the method use the environment limits, which are loaded here to define the maximum side of a square which is then used to create a box based on zlim you provide. If you can please check those bounds.
The way it works is that it does a `raycasting' given the central location and flatten the obstacles on the image plane. Then My guess rn is that you are not loading an environment/the bounds are empty. IDK what would happen if the zlim are both the same value. The Last note. Here the |
@eliabntt I was loading the Warehouse_sketchfab.npy and the bounds seemed correct:
Likewise, In fact, it seems like the error is occurring at the line:
because the Do you have any idea what might be going wrong? Thanks, |
Hi there, I'll check this asap.
In the meantime, may I ask you more details?
1. Where does `set_location` come from? Bc it doesn't seem to come from my
code.
2. Which script are you using?
3. Which branch?
4. Is the environment loaded? To check this you can put a breakpoint before
the call of the generation of the occupancy map, in the main script (e.g.
[here](
https://github.com/eliabntt/GRADE-RR/blob/main/simulator/simulator_ros.py#L157))
and call something like `for _ in range(1000):
simulation_context.render()`. This will refresh the GUI and you can see if
you've the environment and everything loaded.
5. Which line is exactly failing? Again you can get this by putting a
checkpoint within the map generation function and manually step it.
In that way I can try to replicate this. I used the warehouse several time
and I don't recall anything like this occur.
…On Fri, 7 Jul 2023, 19:59 Lyndon Chan, ***@***.***> wrote:
@eliabntt <https://github.com/eliabntt> I was loading the
Warehouse_sketchfab.npy and the bounds seemed correct:
array([-14.248865127563477, -0.5738292336463928, -2.973909854888916,
19.493680953979492, 12.91028118133545, 3.7584939002990723,
array([[-14.24886513, 12.91028118],
[-14.24886513, -0.57382923],
[ 18.93496323, -0.57382923],
[ 18.93496323, 0.26696423],
[ 19.49368095, 0.26696423],
[ 18.93496323, 12.91028118]])], dtype=object)
Likewise, center ([.99, -39.14, 10]), lower_bound ([-7.99, 39.14, 0]),
upper_bound ([-7.99, 39.14, 80]), and zlim ([0, 1]) all seem reasonable.
In fact, it seems like the error is occurring at the line:
_om = _occupancy_map.acquire_occupancy_map_interface()
because the _om return variable is of type <class
'omni.isaac.occupancy_map._occupancy_map.OccupancyMap'> but its
dimensions are (0, 0, 0) and image_buffer is therefore also of length 0.
Do you have any idea what data the acquire_occupancy_map_interface()
function depends on to measure the occupancy map dimensions? I have a
feeling the problem is with that data dependency but the source code
doesn't show what it's doing under the hood.
Thanks,
Lyndon
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@eliabntt thanks for offering to check. Sure, here are my responses:
|
Here are the messages being displayed to my console, by the way (I also added some debug messages) of my own:
|
Hey, first thing I noticed is that you are not using I just tried in a fresh installation using a fresh download of I used the old An issue I noticed with the 2022 version is the scaling factor, which I just corrected in the new version of the asset you can download here. The resulting map is as follow This will change based on the limits you can set. As reference here are the values that generated that image:
Note that upper and lower bounds will depend on the center. However, if you do
i.e. the numbers are compatible. I was able to reproduce your error only by setting With cell size I mean Can you please confirm that you are running the latest code and checked out the correct branch? |
I downloaded your updated warehouse asset and the bound values changed but I'm still getting the same error:
The lower and upper bounds are obviously not equal to each other and the cell size is also 5 for me. I'm pretty sure I got the latest code for the v2022 branch: it's commit 9070754. I did have to make the following changes to some files to get it to run properly without errors at those lines (not sure if these fixes broke anything down the line):
I'm not sure where Thanks for all the help so far, by the way. Not really sure what else I can do to get it working on my end. Any ideas? |
Regarding What troubles did you have? Can you please open issues on the corresponding repo? I did not see anything. What I can tell you is that if Also, if you had to comment |
In the
environment_utils.py
script'sgenerate_map()
function, the dimensions returned from the occupancy map_om
are (0, 0, 0), which is giving me the following error:It seems like the occupancy map is not being properly initialized, so the code fails after this. How can I fix this?
Thanks,
Lyndon
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