Bug fix

omniverse/README.md

@@ -129,7 +129,7 @@ The rendered viewpoints are collected by executing
 
 ```
 cd IsaacLab
-./isaaclab.sh -p <path-to-viplanner-repo>/omniverse/standalone/viplanner_demo.py --scene <matterport/carla/warehouse> --num_samples <how-many-viewpoints>
+./isaaclab.sh -p <path-to-viplanner-repo>/omniverse/standalone/data_collect.py --scene <matterport/carla/warehouse> --num_samples <how-many-viewpoints>
 ```
 
 To test that the data has been correctly extracted, please run the 3D reconstruction and see if the results fits to the simulated environment.

omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis_cfg.py

@@ -6,7 +6,7 @@
 
 from __future__ import annotations
 
-from nav_collectors.configs import MatterportSemanticCostMapping
+from omni.viplanner.config import MatterportSemanticCostMapping
 from omni.isaac.lab.utils import configclass
 
 

omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py

@@ -10,7 +10,6 @@
 import omni.isaac.lab.utils.math as math_utils
 import torch
 import torchvision.transforms as transforms
-from omni.isaac.debug_draw import _debug_draw
 
 from viplanner.config import TrainCfg
 
@@ -51,7 +50,12 @@ def __init__(self, model_dir: str, fear_threshold: float = 0.5, device: str = "c
         self.traj_generate = TrajOpt()
 
         # setup waypoint display in Isaac
-        self.draw = _debug_draw.acquire_debug_draw_interface()
+        # in headless mode, we cannot visualize the graph and omni.debug.draw is not available
+        try:
+            import omni.isaac.debug_draw._debug_draw as omni_debug_draw
+            self.draw = omni_debug_draw.acquire_debug_draw_interface()
+        except ImportError:
+            print("[WARNING] Graph Visualization is not available in headless mode.")
         self.color_fear = [(1.0, 0.4, 0.1, 1.0)]  # red
         self.color_path = [(0.4, 1.0, 0.1, 1.0)]  # green
         self.size = [5.0]

omniverse/standalone/data_collect.py

@@ -11,6 +11,7 @@
 """Launch Isaac Sim Simulator first."""
 
 import argparse
+import os
 
 from omni.isaac.lab.app import AppLauncher
 
@@ -54,6 +55,7 @@ def main():
     """Main function to start the data collection in different environments."""
     # setup sampling config
     cfg = ViewpointSamplingCfg()
+    cfg.save_path = os.path.join("${USER_SAVE_PATH}", args_cli.scene)
     cfg.terrain_analysis.raycaster_sensor = "depth_camera"
 
     # create environment cfg and modify the collector config depending on the environment