Imaging Sonar not working on RTX 5070 laptop. Fix found #41
Description
Describe the bug
The Imaging Sonar information screen do not show the sonar captures.
To Reproduce
Load OceanSim "Sensor Example" and activate "Imaging Sonar" sensor. In the IsaacSim console print an error like this:
2026-03-10T07:55:35Z [157,000ms] [Error] [omni.kit.app._impl] [py stderr]: annotator_output, do_synchronize = AnnotatorCache.get_data(
2026-03-10T07:55:35Z [157,001ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^
2026-03-10T07:55:35Z [157,001ms] [Error] [omni.kit.app._impl] [py stderr]: File "c:\isaac-sim_o/kit/kernel/py\carb\profiler\__init__.py", line 99, in wrapper
2026-03-10T07:55:35Z [157,001ms] [Error] [omni.kit.app._impl] [py stderr]: r = f(*args, **kwds)
2026-03-10T07:55:35Z [157,002ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^
2026-03-10T07:55:35Z [157,002ms] [Error] [omni.kit.app._impl] [py stderr]: File "c:/isaac-sim_o/extscache/omni.replicator.core-1.12.27+107.3.3.wx64.r.cp311/omni/replicator/core/scripts/utils/annotator_utils.py", line 518, in get_data
2026-03-10T07:55:35Z [157,002ms] [Error] [omni.kit.app._impl] [py stderr]: data, do_synchronize = cls._get_data_from_ptr(annotator_id, data_params, do_copy)
2026-03-10T07:55:35Z [157,003ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2026-03-10T07:55:35Z [157,003ms] [Error] [omni.kit.app._impl] [py stderr]: File "c:\isaac-sim_o/kit/kernel/py\carb\profiler\__init__.py", line 99, in wrapper
2026-03-10T07:55:35Z [157,003ms] [Error] [omni.kit.app._impl] [py stderr]: r = f(*args, **kwds)
2026-03-10T07:55:35Z [157,003ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^
2026-03-10T07:55:35Z [157,004ms] [Error] [omni.kit.app._impl] [py stderr]: File "c:/isaac-sim_o/extscache/omni.replicator.core-1.12.27+107.3.3.wx64.r.cp311/omni/replicator/core/scripts/utils/annotator_utils.py", line 585, in _get_data_from_ptr
2026-03-10T07:55:35Z [157,004ms] [Error] [omni.kit.app._impl] [py stderr]: wp.copy(cached_array, array)
2026-03-10T07:55:35Z [157,004ms] [Error] [omni.kit.app._impl] [py stderr]: File "c:/isaac-sim_o/extscache/omni.warp.core-1.8.2+wx64/warp/context.py", line 6928, in copy
2026-03-10T07:55:35Z [157,006ms] [Error] [omni.kit.app._impl] [py stderr]: raise RuntimeError(f"Warp copy error: {runtime.get_error_string()}")
2026-03-10T07:55:35Z [157,006ms] [Error] [omni.kit.app._impl] [py stderr]: RuntimeError: Warp copy error: Warp CUDA error 1: invalid argument (in function memcpy_d2d, C:\g\213697506\warp\native\warp.cu:785)
Additionaly the imaging sonar screen just show the message "Run the scenario for image to be received"
Expected behavior
The Imaging Sonar screen should show the sonar information
Desktop (please complete the following information):
- Windows 11
- Issac Sim 5.1.0
- Nvidia GeForce RTX 5070 Laptop GPU
Fix Found
Add some modifications to SensorExample_python/scenario.py in order to control the fps in the sonar
# Omniverse import
import numpy as np
from pxr import Gf, PhysxSchema
# Isaac sim import
from isaacsim.core.prims import SingleRigidPrim
from isaacsim.core.utils.prims import get_prim_path
class MHL_Sensor_Example_Scenario():
def __init__(self):
self._rob = None
self._sonar = None
self._cam = None
self._DVL = None
self._baro = None
self._ctrl_mode = None
self._running_scenario = False
self._time = 0.0
# NEW: Throttle variables
self._last_sonar_time = 0.0
self._sonar_update_interval = 0.1 # 0.1 seconds = 10 FPS for the sonar
# Add a frame counter
self._frame_count = 0
def setup_scenario(self, rob, sonar, cam, DVL, baro, ctrl_mode):
self._rob = rob
self._frame_count = 0 # Reset on setup
self._sonar = sonar
self._cam = cam
self._DVL = DVL
self._baro = baro
self._ctrl_mode = ctrl_mode
if self._sonar is not None:
self._sonar.sonar_initialize(include_unlabelled=True)
if self._cam is not None:
self._cam.initialize()
if self._DVL is not None:
self._DVL_reading = [0.0, 0.0, 0.0]
if self._baro is not None:
self._baro_reading = 101325.0 # atmospheric pressure (Pa)
print(f"Scenario setup with control mode: {ctrl_mode}")
# Apply the physx force schema if manual control
if ctrl_mode == "Manual control":
from ...utils.keyboard_cmd import keyboard_cmd
self._rob_forceAPI = PhysxSchema.PhysxForceAPI.Apply(self._rob)
self._force_cmd = keyboard_cmd(base_command=np.array([0.0, 0.0, 0.0]),
input_keyboard_mapping={
# forward command
"W": [10.0, 0.0, 0.0],
# backward command
"S": [-10.0, 0.0, 0.0],
# leftward command
"A": [0.0, 10.0, 0.0],
# rightward command
"D": [0.0, -10.0, 0.0],
# rise command
"UP": [0.0, 0.0, 10.0],
# sink command
"DOWN": [0.0, 0.0, -10.0],
})
self._torque_cmd = keyboard_cmd(base_command=np.array([0.0, 0.0, 0.0]),
input_keyboard_mapping={
# yaw command (left)
"J": [0.0, 0.0, 10.0],
# yaw command (right)
"L": [0.0, 0.0, -10.0],
# pitch command (up)
"I": [0.0, -10.0, 0.0],
# pitch command (down)
"K": [0.0, 10.0, 0.0],
# row command (left)
"LEFT": [-10.0, 0.0, 0.0],
# row command (negative)
"RIGHT": [10.0, 0.0, 0.0],
})
self._running_scenario = True
# This function will only be called if ctrl_mode==waypoints and waypoints files are changed
def setup_waypoints(self, waypoint_path, default_waypoint_path):
def read_data_from_file(file_path):
# Initialize an empty list to store the floats
data = []
# Open the file in read mode
with open(file_path, 'r') as file:
# Read each line in the file
for line in file:
# Strip any leading/trailing whitespace and split the line by spaces
float_strings = line.strip().split()
# Convert the list of strings to a list of floats
floats = [float(x) for x in float_strings]
# Append the list of floats to the data list
data.append(floats)
return data
try:
self.waypoints = read_data_from_file(waypoint_path)
print('Waypoints loaded successfully.')
print(f'Waypoint[0]: {self.waypoints[0]}')
except:
self.waypoints = read_data_from_file(default_waypoint_path)
print('Fail to load this waypoints. Back to default waypoints.')
def teardown_scenario(self):
import omni.replicator.core as rep
# Because these two sensors create annotator cache in GPU,
# close() will detach annotator from render product and clear the cache.
if self._sonar is not None:
self._sonar.close()
if self._cam is not None:
self._cam.close()
rep.orchestrator.stop()
# In some Isaac Sim versions, you also need to clear the registry
# to prevent KeyError on the next run:
try:
rep.AnnotatorRegistry.clear()
except AttributeError:
pass # Ignore if your version of Replicator doesn't require this
# clear the keyboard subscription
if self._ctrl_mode=="Manual control":
self._force_cmd.cleanup()
self._torque_cmd.cleanup()
self._rob = None
self._sonar = None
self._cam = None
self._DVL = None
self._baro = None
self._running_scenario = False
self._time = 0.0
def update_scenario(self, step: float):
if not self._running_scenario:
return
self._time += step
# --- DYNAMIC THROTTLED WARMUP ---
# Only ask for Sonar data if 0.1 seconds have passed
if self._time - self._last_sonar_time >= self._sonar_update_interval:
if self._sonar is not None:
try:
self._sonar.make_sonar_data()
self._last_sonar_time = self._time # Reset the clock
except KeyError:
pass # Still warming up, skip this frame
# You can do the exact same throttle for the camera if it's lagging!
if self._cam is not None:
try:
self._cam.render()
except KeyError:
pass
# ----------------------------
if self._sonar is not None:
self._sonar.make_sonar_data()
if self._cam is not None:
self._cam.render()
if self._DVL is not None:
self._DVL_reading = self._DVL.get_linear_vel()
if self._baro is not None:
self._baro_reading = self._baro.get_pressure()
if self._ctrl_mode=="Manual control":
force_cmd = Gf.Vec3f(*self._force_cmd._base_command)
torque_cmd = Gf.Vec3f(*self._torque_cmd._base_command)
self._rob_forceAPI.CreateForceAttr().Set(force_cmd)
self._rob_forceAPI.CreateTorqueAttr().Set(torque_cmd)
elif self._ctrl_mode=="Waypoints":
if len(self.waypoints) > 0:
waypoints = self.waypoints[0]
self._rob.GetAttribute('xformOp:translate').Set(Gf.Vec3f(waypoints[0], waypoints[1], waypoints[2]))
self._rob.GetAttribute('xformOp:orient').Set(Gf.Quatd(waypoints[3], waypoints[4], waypoints[5], waypoints[6]))
self.waypoints.pop(0)
else:
print('Waypoints finished')
elif self._ctrl_mode=="Straight line":
SingleRigidPrim(prim_path=get_prim_path(self._rob)).set_linear_velocity(np.array([0.5,0,0]))