Issues Importing RotatingLidarPhysX from omni.isaac.sensor in Isaac Sim

[linjiw]

Description

I am encountering an issue while trying to import RotatingLidarPhysX from omni.isaac.sensor in my Isaac Sim project. Despite having the necessary directories included in my PYTHONPATH and ensuring that my environment is set up according to the documentation, I am unable to import the module successfully.

Steps to Reproduce

1. Attempt to import RotatingLidarPhysX using the following code snippet:

   from omni.isaac.sensor import RotatingLidarPhysX

2. Run the script.

### Expected Behavior
I expect the module to be imported without any errors, allowing me to utilize RotatingLidarPhysX in my project.

### Actual Behavior
The import fails with a ModuleNotFoundError, indicating that the omni.graph.scriptnode module could not be found.
```python
  File "/home/linjiw/Downloads/OmniIsaacGymEnvs/omniisaacgymenvs/utils/task_util.py", line 48, in import_tasks
    from omniisaacgymenvs.tasks.jackal import JackalTask
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/Downloads/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/jackal.py", line 80, in <module>
    from omni.isaac.sensor import RotatingLidarPhysX

  File "/home/linjiw/Downloads/OmniIsaacGymEnvs/omniisaacgymenvs/tasks/jackal.py", line 80, in <module>
    from omni.isaac.sensor import RotatingLidarPhysX
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.sensor/omni/isaac/sensor/__init__.py", line 10, in <module>
    from .scripts import *

  File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.sensor/omni/isaac/sensor/__init__.py", line 10, in <module>
    from .scripts import *
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/__init__.py", line 10, in <module>
    from .camera import *

  File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/__init__.py", line 10, in <module>
    from .camera import *
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/camera.py", line 37, in <module>
    import omni.replicator.core as rep

  File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/camera.py", line 37, in <module>
    import omni.replicator.core as rep
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/__init__.py", line 3, in <module>
    from .scripts import (

  File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/__init__.py", line 3, in <module>
    from .scripts import (
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/__init__.py", line 1, in <module>
    from . import (

  File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/__init__.py", line 1, in <module>
    from . import (
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/annotators.py", line 44, in <module>
    from .utils import ReplicatorItem, annotator_utils

  File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/annotators.py", line 44, in <module>
    from .utils import ReplicatorItem, annotator_utils
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/utils/__init__.py", line 1, in <module>
    from . import (

  File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/utils/__init__.py", line 1, in <module>
    from . import (
2024-04-29 21:18:38 [4,500ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,501ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/utils/annotator_utils.py", line 13, in <module>
    from omni.graph.scriptnode._impl.extension import SCRIPTNODE_OPT_IN_SETTING, is_check_enabled, verify_scriptnode_load

  File "/home/linjiw/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.replicator.core-1.10.20+105.1.lx64.r.cp310/omni/replicator/core/scripts/utils/annotator_utils.py", line 13, in <module>
    from omni.graph.scriptnode._impl.extension import SCRIPTNODE_OPT_IN_SETTING, is_check_enabled, verify_scriptnode_load
2024-04-29 21:18:38 [4,501ms] [Error] [omni.kit.app._impl] [py stderr]: 
2024-04-29 21:18:38 [4,501ms] [Error] [omni.kit.app._impl] [py stderr]: ModuleNotFoundError: No module named 'omni.graph.scriptnode'

ModuleNotFoundError: No module named 'omni.graph.scriptnode'

Additional Context

I was able to test and play with omni.isaac.sensor in isaac sim, but failed in omniisaacgymenvs. I noticed they are using the same python.sh so I was wondering are there specific modules or packages that need to be installed or set path in isaac gym?

I also noticed that isaac gym does not have such example about using lidar from isaac sim, so I was wondering do isaac gym support lidar?

Thank you for your assistance.