After clicking stop open xr, issac sim crashed

[nikepupu]

full log:
[INFO] OpenXR initialized using pybind11 interface
OpenXR API layers (0)
OpenXR extensions (15)
|-- XR_KHR_vulkan_enable
|-- XR_KHR_vulkan_enable2
|-- XR_KHR_opengl_enable
| (requested)
|-- XR_KHR_binding_modification
|-- XR_VALVE_analog_threshold
|-- XR_EXT_hand_tracking
|-- XR_EXT_hand_joints_motion_range
|-- XR_EXT_hp_mixed_reality_controller
|-- XR_HTC_vive_cosmos_controller_interaction
|-- XR_KHR_visibility_mask
|-- XR_UNITY_hand_model_pose
|-- XR_HTCX_vive_tracker_interaction
|-- XR_KHR_composition_layer_depth
|-- XR_EXT_frame_composition_report
|-- XR_EXT_debug_utils
Runtime
|-- name: SteamVR/OpenXR
|-- version: 0.1.0
System
|-- system id: 1152974375654261170
|-- system name: SteamVR/OpenXR : lighthouse
|-- vendor id: 10462
|-- max layers: 16
|-- max swapchain height: 2056
|-- max swapchain width: 1852
|-- orientation tracking: 1
|-- position tracking: 1
View configurations (1)
|-- type 2 (https://www.khronos.org/registry/OpenXR/specs/1.0/html/xrspec.html#XrViewConfigurationType)
| (requested)
View configuration properties
|-- configuration type: 2 (https://www.khronos.org/registry/OpenXR/specs/1.0/html/xrspec.html#XrViewConfigurationType)
|-- fov mutable (bool): 1
View configuration views (2)
|-- view 0
| |-- recommended resolution: 1852 x 2056
| |-- max resolution: 1852 x 2056
| |-- recommended swapchain samples: 1
| |-- max swapchain samples: 1
|-- view 1
| |-- recommended resolution: 1852 x 2056
| |-- max resolution: 1852 x 2056
| |-- recommended swapchain samples: 1
| |-- max swapchain samples: 1
Environment blend modes (1)
|-- mode: 1 (https://www.khronos.org/registry/OpenXR/specs/1.0/html/xrspec.html#XrEnvironmentBlendMode)
| (requested)
OpenGL requirements
|-- min API version: 4.3.0
|-- max API version: 4.6.0
Graphics binding: OpenGL
|-- xDisplay: 0x19fb67d0
|-- visualid: 0
|-- glxFBConfig: 0
|-- glxDrawable: 75497483
|-- glxContext: 0x1a077258
Reference spaces (3)
|-- type: 1 (https://www.khronos.org/registry/OpenXR/specs/1.0/html/xrspec.html#XrReferenceSpaceType)
| |-- reference space bounds
| | |-- width: 0
| | |-- height: 0
|-- type: 2 (https://www.khronos.org/registry/OpenXR/specs/1.0/html/xrspec.html#XrReferenceSpaceType)
| |-- reference space bounds
| | |-- width: 0
| | |-- height: 0
|-- type: 3 (https://www.khronos.org/registry/OpenXR/specs/1.0/html/xrspec.html#XrReferenceSpaceType)
| |-- reference space bounds
| | |-- width: 1
| | |-- height: 1
Suggested interaction bindings by profiles
|-- /interaction_profiles/khr/simple_controller (0)
|-- /interaction_profiles/google/daydream_controller (0)
|-- /interaction_profiles/htc/vive_controller (0)
|-- /interaction_profiles/htc/vive_pro (0)
|-- /interaction_profiles/microsoft/motion_controller (0)
|-- /interaction_profiles/microsoft/xbox_controller (0)
|-- /interaction_profiles/oculus/go_controller (0)
|-- /interaction_profiles/oculus/touch_controller (0)
|-- /interaction_profiles/valve/index_controller (0)
Swapchain formats (8)
|-- format: 32859
|-- format: 34842
| (selected)
|-- format: 34843
|-- format: 35905
|-- format: 35907
|-- format: 33189
|-- format: 33190
|-- format: 33191
Created swapchain (2)
|-- swapchain: 0
| |-- width: 1852
| |-- height: 2056
| |-- sample count: 1
| |-- swapchain images: 3
|-- swapchain: 1
| |-- width: 1852
| |-- height: 2056
| |-- sample count: 1
| |-- swapchain images: 3
XrEventDataSessionStateChanged to XR_SESSION_STATE_IDLE (1)
XrEventDataSessionStateChanged to XR_SESSION_STATE_READY (2)
Event: XR_SESSION_STATE_READY (xrBeginSession)
[WARNING] No callback has been established for rendering events. Internal callback will be used
[INFO] Create UsdGeom.XformOp.TypeTransform for /OpenXR/Cameras/left_camera
[INFO] Create UsdGeom.XformOp.TypeTransform for /OpenXR/Cameras/right_camera
2022-01-11 08:16:33 [75,133ms] [Warning] [carb.sensors.plugin] Uninitialized sensor passed in, no sensor data
[ERROR] cannot reshape array of size 0 into shape (0,0,newaxis)
/home/nikepupu/.local/share/Steam/steamapps/common/SteamVR/bin/linux64/vrmonitor: error while loading shared libraries: libQt5Multimedia.so.5: cannot open shared object file: No such file or directory
XrEventDataSessionStateChanged to XR_SESSION_STATE_SYNCHRONIZED (3)
2022-01-11 08:16:33 [75,471ms] [Warning] [carb.sensors.plugin] Uninitialized sensor passed in, no sensor data
[ERROR] cannot reshape array of size 0 into shape (0,0,newaxis)
2022-01-11 08:16:33 [75,491ms] [Warning] [carb.sensors.plugin] Uninitialized sensor passed in, no sensor data
[ERROR] cannot reshape array of size 0 into shape (0,0,newaxis)

[Toni-SM]

Hi @nikepupu

This is a bug in the code that I'm pending to fix...
I hope to have a solution soon. Sorry for the inconvenience

[nikepupu]

Is there any update on the status?

[Toni-SM]

Not yet but please check NVIDIA forum https://forums.developer.nvidia.com/t/external-extensions-openxr-compact-binding-for-creating-extended-reality-applications/192173

[Toni-SM]

Hi @nikepupu

It seems that the problem is when an XR instance is destroyed by method xrDestroyInstance. This issue is already reported in the Steam Community:
https://steamcommunity.com/app/250820/discussions/8/3114772813482874960/

I am working on a solution for it...

[nikepupu]

Hi, I am happy to help out if you need someone to play around with it. I think it's going to be quite useful for my research project.

[nikepupu]

https://github.com/cmbruns/pyopenxr/pull/60/files
Here are the workaround people discovered.

[PARKBONG]

@Toni-SM Hi, Is there any progress on Linux?

after launching your example code,

from semu.xr.openxr import _openxr
_openxr.release_openxr_interface(xr)

Then IssacSim crash occurs (SteamVR return to SteamVR Home)

Thanks!

[Toni-SM]

Hi @PARKBONG

Sorry, that's a known problem,
Unfortunately, I haven't had the time to look at it in depth.
I hope I can fix it although it's not clear to me when...

All code and steps to compile it are in the repository, in case someone wants to fix it or contribute in some other way 😁