Fix Isaac Sim launch errors #69
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Full error message when running `isaacsim omni.isaac.sim`:
[Error] [carb.scripting-python.plugin] PermissionError: [Errno 13] Permission denied: '/home/user/.cache/warp'
At:
/usr/lib/python3.10/os.py(230): makedirs
/usr/lib/python3.10/os.py(216): makedirs
/home/user/.local/lib/python3.10/site-packages/isaacsim/extscache/omni.warp.core-1.2.1/warp/build.py(71): init_kernel_cache
/home/user/.local/lib/python3.10/site-packages/isaacsim/extscache/omni.warp.core-1.2.1/warp/context.py(3067): __init__
/home/user/.local/lib/python3.10/site-packages/isaacsim/extscache/omni.warp.core-1.2.1/warp/context.py(5413): init
/home/user/.local/lib/python3.10/site-packages/isaacsim/extscache/omni.replicator.core-1.11.20+106.1.0.lx64.r.cp310/omni/replicator/core/scripts/extension.py(121): __init__
/home/user/.local/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(158): _startup_ext
/home/user/.local/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(224): startup
/home/user/.local/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2): <module>
/home/user/.local/lib/python3.10/site-packages/omni/kit_app.py(114): startup
/home/user/.local/lib/python3.10/site-packages/isaacsim/__init__.py(127): main
/home/user/.local/bin/isaacsim(8): <module>
[Error] [omni.ext.plugin] [ext: omni.replicator.core-1.11.20] Failed to startup python extension.
This issue will cause `Isaac Utils > Common Omnigraphs > ROS2 Camera` and playing to fail:
[Error] [omni.graph] Invalid Node object passed to Graph.get_graph_from_node
[Error] [omni.isaac.core_nodes.impl.base_writer_node] Could not process writer attach request (<omni.replicator.core.scripts.writers.NodeWriter object at 0x7fcae45d52d0>, '/Render/OmniverseKit/HydraTextures/Replicator'), Invalid NodeObj object in Py_Node in getHandle
[Error] [omni.graph] Invalid Node object passed to Graph.get_graph_from_node
[Error] [omni.isaac.core_nodes.impl.base_writer_node] Could not process writer attach request (<omni.replicator.core.scripts.writers.NodeWriter object at 0x7fcae45d69b0>, '/Render/OmniverseKit/HydraTextures/Replicator'), OmniGraphError: Could not find OmniGraph node from node description '/Render/PostProcess/SDGPipeline/DispatchSync' - Node path '/Render/PostProcess/SDGPipeline/DispatchSync' was not an OmniGraph node
Full error message when running `isaacsim omni.isaac.sim`:
[Error] [omni.kit.app._impl] [py stderr]: /usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.0
warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
This is due to scipy being installed in the ROS2 base image.
It's also worth noting that the NumPy version in the user environment is different than that used in isaac sim (before this commit):
```py
import numpy as np
print(np.__version__)
print(np.__file__)
import scipy
print(scipy.__version__)
print(scipy.__file__)
```
Output outside Isaac Sim:
```
1.21.5
/usr/lib/python3/dist-packages/numpy/__init__.py
1.8.0
/usr/lib/python3/dist-packages/scipy/__init__.py
```
Output inside Isaac Sim:
```
1.26.0
/home/user/.local/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.pip_archive-0.0.0+10a4b5c0.lx64.cp310/pip_prebundle/numpy/__init__.py
1.8.0
/usr/lib/python3/dist-packages/scipy/__init__.py
```
After this commit, Isaac Sim should now be able to launch without any red error messages.
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