Error when creating a cpu Lidar sensor.

[adrian-sch]

When I try to add a cpu lidar to my robot in set_up_scene I get the following error:

[Error] [omni.kit.commands.command] Failed to execute a command: RangeSensorCreateLidar.
  File "/../projects/OmniIsaacGymEnvs/omniisaacgymenvs/scripts/random_policy.py", line 126, in <module>
    parse_hydra_configs()
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/hydra/main.py", line 94, in decorated_main
    _run_hydra(
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/hydra/_internal/utils.py", line 394, in _run_hydra
    _run_app(
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/hydra/_internal/utils.py", line 457, in _run_app
    run_and_report(
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/hydra/_internal/utils.py", line 220, in run_and_report
    return func()
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/hydra/_internal/utils.py", line 458, in <lambda>
    lambda: hydra.run(
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/hydra/_internal/hydra.py", line 119, in run
    ret = run_job(
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/hydra/core/utils.py", line 186, in run_job
    ret.return_value = task_function(task_cfg)
  File "/../projects/OmniIsaacGymEnvs/omniisaacgymenvs/scripts/random_policy.py", line 118, in parse_hydra_configs
    env.step(actions)
  File "/../projects/OmniIsaacGymEnvs/omniisaacgymenvs/envs/vec_env_rlgames.py", line 85, in step
    self._world.step(render=to_render)
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 555, in step
    SimulationContext.step(self, render=render)
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py", line 701, in step
    self._app.update()
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.range_sensor/omni/isaac/range_sensor/scripts/menu.py", line 25, in <lambda>
    make_menu_item_description(ext_id, "Rotating", lambda a=weakref.proxy(self): a._add_lidar()),
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.range_sensor/omni/isaac/range_sensor/scripts/menu.py", line 63, in _add_lidar
    result, prim = omni.kit.commands.execute(
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.kit.commands/omni/kit/commands/command.py", line 463, in execute
    result = omni.kit.undo.execute(command, name, kwargs)
[...skipped...]
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.kit.commands/omni/kit/undo/undo.py", line 77, in execute
    result = _execute(command, name, level, history_key)
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.kit.commands/omni/kit/undo/undo.py", line 458, in _execute
    raise error
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.kit.commands/omni/kit/undo/undo.py", line 419, in _execute
    result = command.do()
  File "/../.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.range_sensor/omni/isaac/range_sensor/scripts/commands.py", line 137, in do
    carb.log.error("Could not create lidar prim")

 <class 'AttributeError'> 'builtin_function_or_method' object has no attribute 'error'

Also when I add the Lidar to the USD beforehand and try to get the sensor data with the Lidar interface I get a Lidar Sensor does not exist error:

[Error] [omni.isaac.range_sensor.plugin] Lidar Sensor does not exist

I tried to enable the omni.sensors.nv.lidar extention, but that did not change anything. Are there any other extensions that need to be enabled for the Lidar to work?

        # Enables and Imports the python bindings to interact with lidar sensor
        from omni.isaac.core.utils.extensions import enable_extension
        enable_extension("omni.sensors.nv.lidar")
        enable_extension("omni.isaac.range_sensor")
        from omni.isaac.range_sensor import _range_sensor

[Privilger]

I meet the same error, does anyone have some ideas?