omni.isaac.core import problem

[percypeng5221]

In h1_humanoid.py, there's this codeblock at the start of the program:

from grutopia.core.env import BaseEnv
from grutopia.core.util.container import is_in_container

file_path = './GRUtopia/demo/configs/h1_locomotion.yaml'
sim_config = SimulatorConfig(file_path)

headless = False
webrtc = False

if is_in_container():
    headless = True
    webrtc = True

env = BaseEnv(sim_config, headless=headless, webrtc=webrtc)

import numpy as np
from omni.isaac.core.utils.rotations import euler_angles_to_quat, quat_to_euler_angles

It works well like this. But if you get rid of the code constructing the BaseEnv and only do:

import numpy as np
from omni.isaac.core.utils.rotations import euler_angles_to_quat, quat_to_euler_angles

It's going to have this problem:

Traceback (most recent call last):
  File "/home/percy/princeton/GRUtopia/set_physics/preprocess_for_interaction_new.py", line 26, in <module>
    from omni.isaac.core.utils.semantics import add_update_semantics
ModuleNotFoundError: No module named 'omni.isaac.core'

I suspect there's some path setting bug related to isaaclab/isaacsim. Could you guys take a look?

[HanqingWangAI]

Hi @percypeng5221, to import any omni.** packages, you need to launch the standalone app first to include the omni extensions into your python path environment.
In GRUtopia, we launch the standalone app in BaseEnv.

GRUtopia/grutopia/core/env.py

Line 30 in aadfca8

self._simulation_app = SimulationApp({'headless': self.headless, 'anti_aliasing': 0})

You can import the omni packages after launching the app.