Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
GPU Information
- Model: GeForce RTX 3090
- Driver Version: 555.42.06
Topic Description
Detailed Description
I use below script to launch Isaac Sim.
I specified the path to the USD file as an option, but it won’t open the file.
Strangely enough, the log says that the target file has been opened, and when I specify it in the GUI, it can be read properly.
import sys
import time
import signal
from isaacsim.simulation_app import SimulationApp
from distutils.util import strtobool
real_frame_per_second = 0.0
internal_frame_per_second = 60.0
time_steps_per_second = 360
kit = None
is_processing = False
def scheduler(signum, frame):
global kit
global is_processing
if is_processing == False:
is_processing = True
kit.update()
is_processing = False
def main():
global kit
args = sys.argv
usd_path = args[1]
if len(args) >= 3:
internal_frame_per_second = float(args[2])
if len(args) >= 4:
time_steps_per_second = float(args[3])
if len(args) >= 5:
real_frame_per_second = float(args[4])
else:
real_frame_per_second = internal_frame_per_second
is_headless_mode = False
if len(args) >= 6:
is_headless_mode = bool(strtobool(args[5]))
# URDF import, configuration and simulation sample
if is_headless_mode:
kit = SimulationApp({"renderer": "RayTracedLighting", "headless": True, "hide_ui": False, "open_usd": usd_path})
else:
kit = SimulationApp({"renderer": "RayTracedLighting", "headless": False, "open_usd": usd_path})
import omni
from isaacsim.core.utils.extensions import enable_extension, disable_extension
from isaacsim.core.api import SimulationContext, World
enable_extension("isaacsim.ros2.bridge")
kit.update()
enable_extension("omni.isaac.repl")
if is_headless_mode:
kit.update()
enable_extension("omni.isaac.sim.headless.native")
my_world = World(stage_units_in_meters = 1.0, physics_dt = 1.0 / internal_frame_per_second, rendering_dt = 1.0 / internal_frame_per_second)
import omni.kit.commands
from pxr import Sdf, Gf, UsdPhysics, PhysxSchema
if is_headless_mode:
omni.usd.get_context().open_stage(usd_path)
# Get stage handle
stage_handle = omni.usd.get_context().get_stage()
# Enable physics
scene = UsdPhysics.Scene.Define(stage_handle, Sdf.Path("/physicsScene"))
# Set gravity
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
# Set solver settings
PhysxSchema.PhysxSceneAPI.Apply(stage_handle.GetPrimAtPath("/physicsScene"))
physxSceneAPI = PhysxSchema.PhysxSceneAPI.Get(stage_handle, "/physicsScene")
physxSceneAPI.CreateEnableCCDAttr(True)
physxSceneAPI.CreateEnableStabilizationAttr(True)
physxSceneAPI.CreateEnableGPUDynamicsAttr(False)
physxSceneAPI.CreateBroadphaseTypeAttr("MBP")
# Refer to https://forums.developer.nvidia.com/t/wheeled-robot-incorrect-behavior/245133
#physxSceneAPI.CreateSolverTypeAttr("TGS")
physxSceneAPI.CreateSolverTypeAttr("PGS")
physxSceneAPI.CreateTimeStepsPerSecondAttr(time_steps_per_second)
# Start simulation
#omni.timeline.get_timeline_interface().play()
signal.signal(signal.SIGALRM, scheduler)
signal.setitimer(signal.ITIMER_REAL, 1/real_frame_per_second, 1/real_frame_per_second)
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
# Shutdown and exit
omni.timeline.get_timeline_interface().stop()
kit.close()
if __name__ == '__main__':
main()
Below is log.
2025-02-12 14:35:01 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
2025-02-12 14:35:01 [5ms] [Warning] [omni.ext.plugin] [ext: omni.isaac.sensor] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.isaac.sensor' or '/isaac-sim/exts/omni.isaac.sensor/config'
[0.093s] [ext: omni.kit.async_engine-0.0.1] startup
[1.585s] [ext: omni.metrics.core-0.0.1] startup
[1.586s] [ext: omni.client.lib-1.0.0] startup
[1.652s] [ext: omni.blobkey-1.1.2] startup
[1.654s] [ext: omni.stats-1.0.1] startup
[1.658s] [ext: omni.datastore-0.0.0] startup
[1.679s] [ext: omni.client-1.2.2] startup
[1.698s] [ext: omni.ujitso.default-1.0.0] startup
[1.703s] [ext: omni.hsscclient-1.1.1] startup
2025-02-12 14:35:02 [1,675ms] [Warning] [omni.datastore] OmniHub is inaccessible
[1.711s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[1.716s] [ext: omni.assets.plugins-0.0.0] startup
[1.724s] [ext: omni.gpu_foundation-0.0.0] startup
[1.778s] [ext: carb.windowing.plugins-1.0.0] startup
2025-02-12 14:35:03 [2,319ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): ELECOM ELECOM TrackBall Mouse Consumer Control [030000006e050000f900000011010000]
2025-02-12 14:35:03 [2,319ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): SteelSeries SteelSeries GameDAC [03000000381000008012000011010000]
2025-02-12 14:35:03 [2,319ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): Logitech USB Receiver Consumer Control [030000006d04000048c5000011010000]
2025-02-12 14:35:03 [2,319ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): Logitech USB Receiver [030000006d04000048c5000011010000]
[2.351s] [ext: omni.kit.renderer.init-0.0.0] startup
|---------------------------------------------------------------------------------------------|
| Driver Version: 555.42.06 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 3090 | Yes: 0 | | 24822 MB | 10de | 0 |
| | | | | | 2204 | 63c31080.. |
| | | | | | b | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.5.0-15-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: AMD Ryzen 9 5950X 16-Core Processor
| Cores: 16 | Logical Cores: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64211 | Free Memory: 54658
| Total Page/Swap (MB): 2048 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2025-02-12 14:35:04 [3,296ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
[3.536s] [ext: omni.kit.pipapi-0.0.0] startup
[3.540s] [ext: omni.kit.pip_archive-0.0.0] startup
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[3.603s] [ext: omni.usd.config-1.0.5] startup
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[9.735s] [ext: carb.audio-0.1.0] startup
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[9.747s] [ext: omni.usd.schema.metrics.assembler-106.5.0] startup
[9.755s] [ext: omni.usd.schema.anim-0.0.0] startup
[9.791s] [ext: omni.usd.schema.isaac-3.0.2] startup
[9.791s] [ext: omni.usd.schema.geospatial-0.0.0] startup
[9.796s] [ext: omni.usd.schema.physx-106.5.7] startup
[9.846s] [ext: omni.usd.schema.audio-0.0.0] startup
[9.852s] [ext: omni.usd.schema.semantics-0.0.0] startup
[9.857s] [ext: omni.usd_resolver-1.0.0] startup
[9.865s] [ext: usdrt.scenegraph-7.5.1] startup
[9.941s] [ext: omni.kit.actions.core-1.0.0] startup
[9.948s] [ext: omni.timeline-1.0.11] startup
[9.952s] [ext: omni.usd.core-1.4.2] startup
[9.957s] [ext: omni.resourcemonitor-107.0.0] startup
[9.962s] [ext: omni.activity.core-1.0.1] startup
[9.966s] [ext: omni.kit.audiodeviceenum-1.0.1] startup
[9.969s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
[9.986s] [ext: omni.graph.exec-0.9.4] startup
[9.987s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
[9.999s] [ext: omni.kit.exec.core-0.13.4] startup
[10.004s] [ext: omni.kit.widget.nucleus_connector-1.1.10] startup
[10.012s] [ext: omni.kit.usd_undo-0.1.8] startup
[10.014s] [ext: omni.kit.commands-1.4.9] startup
[10.026s] [ext: omni.hydra.scene_delegate-0.3.3] startup
[10.033s] [ext: omni.usd-1.12.4] startup
[10.166s] [ext: omni.kit.asset_converter-2.8.3] startup
[10.202s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[10.210s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[10.220s] [ext: omni.usd.schema.forcefield-106.5.7] startup
[10.229s] [ext: isaacsim.robot.schema-3.1.2] startup
[10.242s] [ext: omni.inspect-1.0.1] startup
[10.245s] [ext: omni.kit.notification_manager-1.0.9] startup
[10.251s] [ext: omni.graph.core-2.181.8] startup
[10.261s] [ext: isaacsim.core.deprecation_manager-0.2.2] startup
[10.263s] [ext: omni.index.libs-380600.1777.0] startup
[10.263s] [ext: omni.ujitso.processor.texture-1.0.0] startup
[10.266s] [ext: omni.index-1.0.1] startup
[10.268s] [ext: omni.kit.widget.path_field-2.0.11] startup
[10.272s] [ext: omni.volume-0.5.0] startup
[10.294s] [ext: omni.ujitso.client-0.0.0] startup
[10.295s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
[10.297s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
[10.300s] [ext: omni.kit.clipboard-1.0.5] startup
[10.302s] [ext: omni.hydra.rtx-1.0.0] startup
2025-02-12 14:35:11 [10,285ms] [Warning] [omni.log] Source: omni.hydra was already registered.
[10.369s] [ext: omni.kit.viewport.registry-104.0.6] startup
[10.371s] [ext: omni.kit.helper.file_utils-0.1.9] startup
[10.375s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[10.387s] [ext: omni.kit.menu.core-1.1.2] startup
[10.390s] [ext: omni.kit.widget.filebrowser-2.10.52] startup
[10.415s] [ext: omni.ui.scene-1.11.2] startup
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[10.432s] [ext: omni.kit.viewport.legacy_gizmos-1.0.16] startup
[10.435s] [ext: omni.kit.usd.layers-2.2.0] startup
[10.466s] [ext: omni.kit.window.filepicker-2.11.7] startup
[10.534s] [ext: omni.kit.hydra_texture-1.4.0] startup
[10.540s] [ext: omni.kit.viewport.scene_camera_model-1.0.5] startup
[10.546s] [ext: omni.kit.context_menu-1.8.3] startup
[10.555s] [ext: omni.kit.window.file_importer-1.1.14] startup
[10.561s] [ext: omni.kit.menu.utils-1.7.7] startup
[10.591s] [ext: omni.kit.widget.viewport-107.0.7] startup
[10.610s] [ext: omni.kit.window.drop_support-1.0.4] startup
[10.612s] [ext: omni.kit.raycast.query-1.0.5] startup
[10.618s] [ext: omni.kit.material.library-1.5.15] startup
[10.644s] [ext: omni.hydra.engine.stats-1.0.3] startup
[10.647s] [ext: omni.kit.viewport.window-107.0.8] startup
[10.695s] [ext: omni.warp.core-1.5.0] startup
[11.216s] [ext: omni.kit.viewport.utility-1.0.18] startup
[11.224s] [ext: omni.kit.hotkeys.core-1.3.10] startup
[11.225s] [ext: omni.kit.widget.prompt-1.0.7] startup
[11.228s] [ext: omni.kit.usd.collect-2.2.22] startup
[11.239s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
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[11.357s] [ext: omni.kit.stage_template.core-1.1.22] startup
[11.360s] [ext: omni.graph.image.core-0.6.0] startup
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[11.367s] [ext: omni.graph-1.140.2] startup
[11.493s] [ext: omni.kit.window.file-1.3.57] startup
[11.507s] [ext: omni.kit.widget.filter-1.1.4] startup
[11.511s] [ext: omni.graph.image.nodes-1.3.0] startup
[11.516s] [ext: omni.graph.action_nodes-1.40.1] startup
[11.523s] [ext: omni.kit.window.content_browser-2.10.3] startup
[11.591s] [ext: omni.kvdb-106.5.7] startup
[11.603s] [ext: omni.graph.action-1.120.0] startup
[11.607s] [ext: omni.kit.tool.collect-2.2.16] startup
[11.684s] [ext: omni.graph.nodes-1.162.1] startup
[11.774s] [ext: omni.kit.widget.searchfield-1.1.8] startup
[11.786s] [ext: omni.localcache-106.5.7] startup
[11.790s] [ext: omni.convexdecomposition-106.5.7] startup
[11.797s] [ext: omni.kit.widget.stage_icons-1.0.6] startup
[11.798s] [ext: omni.kit.widget.stage-2.11.6] startup
[11.844s] [ext: omni.usdphysics-106.5.7] startup
[11.847s] [ext: omni.physx.foundation-106.5.7] startup
[11.854s] [ext: omni.physics.tensors-106.5.7] startup
[11.875s] [ext: omni.kit.window.stage-2.5.11] startup
[11.881s] [ext: omni.kit.property.adapter.core-1.0.2] startup
[11.886s] [ext: omni.physx.cooking-106.5.7] startup
[11.897s] [ext: omni.kit.widget.zoombar-1.0.5] startup
[11.900s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
[11.902s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
[11.906s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
[11.912s] [ext: omni.physx-106.5.7] startup
[11.939s] [ext: omni.kit.browser.core-2.3.11] startup
[11.956s] [ext: omni.kit.window.property-1.11.5] startup
[11.966s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[11.971s] [ext: omni.kit.property.usd-4.2.16] startup
[12.031s] [ext: omni.physx.tensors-106.5.7] startup
[12.041s] [ext: omni.kit.menu.stage-1.2.5] startup
[12.044s] [ext: omni.kit.browser.folder.core-1.10.1] startup
[12.067s] [ext: omni.warp-1.5.0] startup
[12.086s] [ext: isaacsim.examples.browser-0.1.8] startup
[12.097s] [ext: omni.physx.stageupdate-106.5.7] startup
[12.125s] [ext: omni.kit.numpy.common-0.1.2] startup
[12.129s] [ext: isaacsim.core.version-2.0.2] startup
[12.135s] [ext: omni.isaac.dynamic_control-1.3.15] startup
2025-02-12 14:35:13 [12,150ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
[12.184s] [ext: isaacsim.storage.native-1.0.6] startup
[12.199s] [ext: omni.kit.menu.create-1.0.17] startup
[12.222s] [ext: isaacsim.core.utils-2.2.8] startup
[12.259s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
[12.283s] [ext: omni.kit.primitive.mesh-1.0.17] startup
[12.345s] [ext: isaacsim.core.simulation_manager-0.3.3] startup
[15.084s] [ext: omni.kit.scripting-106.5.2] startup
[15.103s] [ext: omni.kit.stage_templates-1.2.6] startup
[15.110s] [ext: isaacsim.core.prims-0.3.7] startup
[15.200s] [ext: isaacsim.replicator.behavior-1.0.8] startup
[15.202s] [ext: isaacsim.core.api-4.2.16] startup
[15.254s] [ext: omni.ui_query-1.1.7] startup
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[15.305s] [ext: omni.graph.visualization.nodes-2.1.1] startup
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[15.359s] [ext: isaacsim.gui.components-1.0.9] startup
[15.383s] [ext: omni.kit.widget.settings-1.2.2] startup
[15.396s] [ext: omni.kit.widget.graph-1.12.17] startup
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[15.510s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[15.523s] [ext: omni.syntheticdata-0.6.10] startup
[15.614s] [ext: omni.kit.window.material_graph-1.8.19] startup
[15.751s] [ext: omni.graph.scriptnode-1.40.1] startup
[15.755s] [ext: isaacsim.core.cloner-1.3.4] startup
[15.761s] [ext: omni.replicator.core-1.11.35] startup
Warp 1.5.0 initialized:
CUDA Toolkit 11.8, Driver 12.5
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA GeForce RTX 3090" (24 GiB, sm_86, mempool enabled)
Kernel cache:
/root/.cache/warp/1.5.0
2025-02-12 14:35:17 [16,003ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
[16.038s] [ext: omni.isaac.cloner-1.0.2] startup
2025-02-12 14:35:17 [16,011ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
[16.043s] [ext: isaacsim.core.nodes-2.1.4] startup
[16.061s] [ext: isaacsim.asset.importer.urdf-2.3.10] startup
[16.396s] [ext: omni.isaac.core-4.0.3] startup
2025-02-12 14:35:17 [16,381ms] [Warning] [omni.isaac.core.physics_context.physics_context] omni.isaac.core.physics_context.physics_context has been deprecated in favor of isaacsim.core.api.physics_context.physics_context. Please update your code accordingly.
2025-02-12 14:35:17 [16,388ms] [Warning] [omni.isaac.core.simulation_context.simulation_context] omni.isaac.core.simulation_context.simulation_context has been deprecated in favor of isaacsim.core.api.simulation_context.simulation_context. Please update your code accordingly.
2025-02-12 14:35:17 [16,398ms] [Warning] [omni.isaac.core.world.world] omni.isaac.core.world.world has been deprecated in favor of isaacsim.core.api.world.world. Please update your code accordingly.
2025-02-12 14:35:17 [16,398ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
[16.430s] [ext: omni.isaac.core_nodes-2.0.2] startup
2025-02-12 14:35:17 [16,413ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly.
[16.445s] [ext: omni.anim.curve.core-1.2.0] startup
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[16.846s] [ext: omni.kit.selection-0.1.5] startup
[16.852s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.5] startup
[16.869s] [ext: omni.isaac.assets_check-0.3.9] startup
2025-02-12 14:35:18 [16,840ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
[16.872s] [ext: isaacsim.robot.manipulators-3.0.4] startup
[16.880s] [ext: isaacsim.sensors.physics-0.3.5] startup
[16.902s] [ext: isaacsim.gui.menu-2.0.9] startup
[16.935s] [ext: omni.isaac.lula_test_widget-1.0.2] startup
2025-02-12 14:35:18 [16,906ms] [Warning] [omni.isaac.lula_test_widget] omni.isaac.lula_test_widget has been deprecated in favor of isaacsim.robot_motion.lula_test_widget. Please update your code accordingly.
[16.938s] [ext: omni.sensors.nv.common-2.5.0-coreapi] startup
[17.013s] [ext: omni.isaac.manipulators-3.0.3] startup
2025-02-12 14:35:18 [16,982ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,983ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,983ms] [Warning] [omni.isaac.manipulators.controllers.pick_place_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,986ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,986ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,987ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,987ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,987ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,988ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-02-12 14:35:18 [16,988ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
[17.020s] [ext: isaacsim.robot.policy.examples-4.0.3] startup
[17.024s] [ext: omni.isaac.menu-1.0.2] startup
2025-02-12 14:35:18 [16,994ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
[17.026s] [ext: omni.isaac.motion_generation-8.0.2] startup
2025-02-12 14:35:18 [16,998ms] [Warning] [omni.isaac.motion_generation] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [16,998ms] [Warning] [omni.isaac.motion_generation.articulation_kinematics_solver] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [16,999ms] [Warning] [omni.isaac.motion_generation.articulation_motion_policy] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [16,999ms] [Warning] [omni.isaac.motion_generation.articulation_trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [16,999ms] [Warning] [omni.isaac.motion_generation.kinematics_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,000ms] [Warning] [omni.isaac.motion_generation.lula] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,000ms] [Warning] [omni.isaac.motion_generation.lula.kinematics] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,000ms] [Warning] [omni.isaac.motion_generation.lula.motion_policies] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,000ms] [Warning] [omni.isaac.motion_generation.lula.path_planners] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,001ms] [Warning] [omni.isaac.motion_generation.lula.trajectory_generator] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,001ms] [Warning] [omni.isaac.motion_generation.motion_policy_controller] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,001ms] [Warning] [omni.isaac.motion_generation.motion_policy_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,002ms] [Warning] [omni.isaac.motion_generation.path_planner_visualizer] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,002ms] [Warning] [omni.isaac.motion_generation.path_planning_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,002ms] [Warning] [omni.isaac.motion_generation.trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-02-12 14:35:18 [17,002ms] [Warning] [omni.isaac.motion_generation.world_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
[17.034s] [ext: omni.sensors.nv.materials-1.4.0-coreapi] startup
[17.046s] [ext: omni.isaac.nucleus-1.0.3] startup
2025-02-12 14:35:18 [17,015ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
2025-02-12 14:35:18 [17,015ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
[17.048s] [ext: omni.isaac.quadruped-3.0.2] startup
2025-02-12 14:35:18 [17,017ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
[17.049s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[17.054s] [ext: omni.sensors.nv.wpm-2.4.0-coreapi] startup
[17.063s] [ext: omni.sensors.nv.lidar-2.6.3-coreapi] startup
[17.076s] [ext: omni.sensors.nv.ids-1.4.0-coreapi] startup
[17.083s] [ext: isaacsim.robot.manipulators.examples-1.0.3] startup
[17.085s] [ext: isaacsim.util.debug_draw-2.0.2] startup
[17.091s] [ext: omni.sensors.tiled-0.0.6] startup
[17.095s] [ext: omni.sensors.nv.radar-2.6.1-coreapi] startup
[17.111s] [ext: omni.kit.widget.toolbar-1.7.3] startup
[17.133s] [ext: omni.kit.manipulator.transform-106.0.1] startup
[17.153s] [ext: isaacsim.sensors.physx-2.2.4] startup
[17.168s] [ext: isaacsim.sensors.rtx-13.6.3] startup
[17.181s] [ext: isaacsim.sensors.camera-0.2.9] startup
[17.202s] [ext: isaacsim.cortex.framework-1.0.2] startup
[17.212s] [ext: omni.kit.manipulator.tool.snap-1.5.12] startup
[17.237s] [ext: omni.isaac.range_sensor-4.0.2] startup
[17.240s] [ext: omni.isaac.surface_gripper-2.0.2] startup
2025-02-12 14:35:18 [17,210ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
[17.242s] [ext: omni.isaac.sensor-13.0.3] startup
2025-02-12 14:35:18 [17,212ms] [Warning] [omni.isaac.sensor] omni.isaac.sensor has been deprecated in favor of isaacsim.sensors.camera, isaacsim.sensors.physics, isaacsim.sensors.physx, and isaacsim.sensors.rtx. Please update your code accordingly.
2025-02-12 14:35:18 [17,212ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
2025-02-12 14:35:18 [17,213ms] [Warning] [omni.isaac.sensor.camera_view] omni.isaac.sensor.camera_view has been deprecated in favor of isaacsim.sensors.camera.camera_view. Please update your code accordingly.
2025-02-12 14:35:18 [17,213ms] [Warning] [omni.isaac.sensor.commands] omni.isaac.sensor.commands has been deprecated in favor of isaacsim.sensors.physics.commands, isaacsim.sensors.physx.commands, and isaacsim.sensors.rtx.commands. Please update your code accordingly.
2025-02-12 14:35:18 [17,213ms] [Warning] [omni.isaac.sensor.contact_sensor] omni.isaac.sensor.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.contact_sensor. Please update your code accordingly.
2025-02-12 14:35:18 [17,214ms] [Warning] [omni.isaac.sensor.imu_sensor] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.imu_sensor. Please update your code accordingly.
2025-02-12 14:35:18 [17,214ms] [Warning] [omni.isaac.sensor.lidar_rtx] omni.isaac.sensor.lidar_rtx has been deprecated in favor of isaacsim.sensors.rtx.lidar_rtx. Please update your code accordingly.
2025-02-12 14:35:18 [17,214ms] [Warning] [omni.isaac.sensor.rotating_lidar_physX] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physix.rotating_lidar_physX. Please update your code accordingly.
2025-02-12 14:35:18 [17,215ms] [Warning] [omni.isaac.sensor.scripts.samples.contact_sensor] omni.isaac.sensor.scripts.samples.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.contact_sensor. Please update your code accordingly.
2025-02-12 14:35:18 [17,215ms] [Warning] [omni.isaac.sensor.scripts.samples.imu_sensor] omni.isaac.sensor.scripts.samples.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.imu_sensor. Please update your code accordingly.
2025-02-12 14:35:18 [17,215ms] [Warning] [omni.isaac.sensor.scripts.samples.lightbeam_sensor] omni.isaac.sensor.scripts.samples.lightbeam_sensor has been deprecated in favor of isaacsim.sensors.physx.scripts.samples.lightbeam_sensor. Please update your code accordingly.
[17.248s] [ext: omni.isaac.cortex-1.0.2] startup
2025-02-12 14:35:18 [17,221ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
[17.253s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[17.261s] [ext: omni.debugdraw-0.1.3] startup
[17.266s] [ext: omni.isaac.universal_robots-1.0.2] startup
2025-02-12 14:35:18 [17,236ms] [Warning] [omni.isaac.universal_robots] omni.isaac.universal_robots has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
2025-02-12 14:35:18 [17,236ms] [Warning] [omni.isaac.universal_robots.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
2025-02-12 14:35:18 [17,238ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
[17.270s] [ext: omni.isaac.utils-2.0.2] startup
[17.274s] [ext: omni.kit.manipulator.prim.core-107.0.7] startup
[17.296s] [ext: omni.fabric.commands-1.1.5] startup
[17.308s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[17.313s] [ext: omni.kit.viewport.actions-107.0.0] startup
[17.321s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[17.325s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
[17.331s] [ext: isaacsim.cortex.behaviors-2.0.3] startup
[17.333s] [ext: omni.kit.widget.layers-1.8.2] startup
[17.380s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
[17.385s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[17.386s] [ext: omni.isaac.cortex.sample_behaviors-2.0.2] startup
2025-02-12 14:35:18 [17,355ms] [Warning] [omni.isaac.cortex.sample_behaviors] omni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.cortex.behaviors. Please update your code accordingly.
[17.388s] [ext: omni.graph.ui_nodes-1.40.1] startup
[17.397s] [ext: omni.usdphysics.ui-106.5.7] startup
[17.488s] [ext: omni.physx.commands-106.5.7] startup
[17.528s] [ext: omni.kit.property.camera-1.0.9] startup
[17.540s] [ext: omni.hydra.scene_api-0.1.2] startup
[17.551s] [ext: omni.kit.property.geometry-1.3.3] startup
[17.572s] [ext: omni.kit.property.light-1.0.11] startup
[17.582s] [ext: omni.physx.ui-106.5.7] startup
[17.672s] [ext: omni.kit.property.material-1.10.17] startup
[17.696s] [ext: omni.kit.property.render-1.1.3] startup
[17.700s] [ext: omni.kit.property.transform-1.5.10] startup
[17.719s] [ext: omni.kit.property.audio-1.0.16] startup
[17.724s] [ext: isaacsim.gui.property-1.0.4] startup
[17.730s] [ext: omni.physx.demos-106.5.7] startup
[17.824s] [ext: omni.kit.property.physx-106.5.7] startup
[17.890s] [ext: omni.isaac.lula-4.0.2] startup
2025-02-12 14:35:19 [17,861ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
[17.893s] [ext: omni.kit.property.bundle-1.3.2] startup
[17.897s] [ext: omni.kit.property.isaac-1.0.2] startup
2025-02-12 14:35:19 [17,867ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
2025-02-12 14:35:19 [17,867ms] [Warning] [omni.kit.property.isaac.widgets] omni.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.property.widgets. Please update your code accordingly.
[17.900s] [ext: omni.physx.vehicle-106.5.7] startup
[17.969s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[17.988s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[17.999s] [ext: omni.kit.viewport.menubar.render-107.0.8] startup
[18.009s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[18.025s] [ext: omni.kit.window.console-0.2.14] startup
[18.036s] [ext: omni.physx.camera-106.5.7] startup
[18.051s] [ext: omni.kit.window.toolbar-1.6.2] startup
[18.056s] [ext: omni.isaac.version-2.0.2] startup
2025-02-12 14:35:19 [18,026ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
[18.058s] [ext: isaacsim.robot.wheeled_robots-4.0.3] startup
[18.079s] [ext: omni.physx.cct-106.5.7] startup
[18.103s] [ext: omni.physx.graph-106.5.7] startup
[18.168s] [ext: isaacsim.replicator.writers-1.0.1] startup
[18.398s] [ext: omni.physx.supportui-106.5.7] startup
[18.449s] [ext: omni.physx.telemetry-106.5.7] startup
[18.458s] [ext: omni.isaac.wheeled_robots-3.0.3] startup
2025-02-12 14:35:19 [18,428ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,429ms] [Warning] [omni.isaac.wheeled_robots.controllers] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,429ms] [Warning] [omni.isaac.wheeled_robots.controllers.ackermann_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,429ms] [Warning] [omni.isaac.wheeled_robots.controllers.differential_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,430ms] [Warning] [omni.isaac.wheeled_robots.controllers.holonomic_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,430ms] [Warning] [omni.isaac.wheeled_robots.controllers.quintic_path_planner] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,430ms] [Warning] [omni.isaac.wheeled_robots.controllers.stanley_control] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,430ms] [Warning] [omni.isaac.wheeled_robots.controllers.wheel_base_pose_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,431ms] [Warning] [omni.isaac.wheeled_robots.impl] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,431ms] [Warning] [omni.isaac.wheeled_robots.robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,432ms] [Warning] [omni.isaac.wheeled_robots.robots.holonomic_robot_usd_setup] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-02-12 14:35:19 [18,432ms] [Warning] [omni.isaac.wheeled_robots.robots.wheeled_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
[18.464s] [ext: omni.isaac.franka-1.0.2] startup
2025-02-12 14:35:19 [18,435ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
2025-02-12 14:35:19 [18,436ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
2025-02-12 14:35:19 [18,438ms] [Warning] [omni.isaac.franka.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
[18.470s] [ext: isaacsim.replicator.domain_randomization-1.0.2] startup
[18.479s] [ext: isaacsim.replicator.examples-1.1.2] startup
[18.485s] [ext: omni.kit.window.status_bar-0.1.7] startup
[18.493s] [ext: omni.rtx.window.settings-0.6.17] startup
[18.533s] [ext: omni.usd.metrics.assembler-106.5.0] startup
[18.552s] [ext: omni.physx.bundle-106.5.7] startup
[18.552s] [ext: isaacsim.app.about-2.0.7] startup
[18.555s] [ext: omni.replicator.isaac-2.0.3] startup
2025-02-12 14:35:19 [18,524ms] [Warning] [omni.replicator.isaac] omni.replicator.isaac has been deprecated in favor of isaacsim.replicator.domain_randomization, isaacsim.replicator.examples, isaacsim.replicator.writers. Please update your code accordingly.
[18.556s] [ext: omni.replicator.replicator_yaml-2.0.10] startup
[18.609s] [ext: omni.rtx.settings.core-0.6.3] startup
[18.635s] [ext: omni.usd.metrics.assembler.ui-106.5.0] startup
[18.646s] [ext: isaacsim.simulation_app-2.4.2] startup
[18.647s] [ext: omni.isaac.window.about-2.0.2] startup
2025-02-12 14:35:19 [18,617ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
2025-02-12 14:35:19 [18,617ms] [Warning] [omni.isaac.window.about.about] omni.isaac.window.about.about has been deprecated in favor of isaacsim.app.about.about. Please update your code accordingly.
[18.650s] [ext: semantics.schema.editor-0.3.10] startup
[18.656s] [ext: omni.kit.ui.actions-1.0.2] startup
[18.660s] [ext: semantics.schema.property-1.0.5] startup
[18.664s] [ext: omni.kit.manipulator.camera-106.0.3] startup
[18.683s] [ext: omni.isaac.kit-2.0.3] startup
2025-02-12 14:35:19 [18,652ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
[18.684s] [ext: omni.isaac.asset_browser-1.0.2] startup
2025-02-12 14:35:19 [18,653ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
[18.685s] [ext: isaacsim.core.throttling-2.0.2] startup
[18.688s] [ext: omni.kit.menu.common-1.1.9] startup
[18.692s] [ext: isaacsim.exp.base-4.5.0] startup
[18.693s] [ext: isaacsim.exp.base.python-4.5.0] startup
[18.695s] Simulation App Starting
2025-02-12 14:35:20 [19,142ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
2025-02-12 14:35:20 [19,142ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
2025-02-12 14:35:20 [19,142ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)}
Opening usd file at /root/colcon_ws/install/isaac_ros2_scripts/share/isaac_ros2_scripts/meshes/USD/default_stage.usd ...Done.
[19.401s] app ready
2025-02-12 14:35:20 [19,430ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 7374781440
2025-02-12 14:35:20 [19,430ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
2025-02-12 14:35:20 [19,430ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 7301033856
2025-02-12 14:35:20 [19,430ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 9748724 (slope: 439, intercept: 13179904)
2025-02-12 14:35:20 [19,430ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4287352704
2025-02-12 14:35:20 [19,430ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
2025-02-12 14:35:21 [20,501ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults-transient/meshlights/forceDisable'
2025-02-12 14:35:22 [20,849ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/post/dlss/execMode'
Below is screenshot.
Error Messages
I got no error messages.