When I open the Articulation Inspector to inspect the robot joints, I get the following warning repeatedly, eventually causing the simulation to stop due to the huge number of warnings:
[Warning] [omni.isaac.core.articulations.articulation] get_joint_efforts is deprecated. Please use get_applied_joint_efforts to get the applied joint efforts.
In addition, I have imported a robot from a urdf file to Isaac Sim. When I use the Articulation Inspector, I have many different errors:
2023-05-31 14:54:20 [55,061ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationReducedCoordinate::copyInternalStateToCache() not allowed while simulation is running. Call will be ignored., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpArticulationReducedCoordinate.cpp, LINE 196
2023-05-31 14:54:20 [55,061ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationReducedCoordinate::applyCache() not allowed while simulation is running. Call will be ignored., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpArticulationReducedCoordinate.cpp, LINE 163
2023-05-31 14:54:20 [55,061ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget() not allowed while simulation is running. Call will be ignored., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 301
2023-05-31 14:54:20 [55,062ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget() not allowed while simulation is running. Call will be ignored., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 301
2023-05-31 14:54:20 [55,062ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationReducedCoordinate::copyInternalStateToCache() not allowed while simulation is running. Call will be ignored., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpArticulationReducedCoordinate.cpp, LINE 196
2023-05-31 14:54:20 [55,062ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationReducedCoordinate::applyCache() not allowed while simulation is running. Call will be ignored., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpArticulationReducedCoordinate.cpp, LINE 163
2023-05-31 14:54:20 [55,062ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget() not allowed while simulation is running. Call will be ignored., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 301
2023-05-31 14:54:20 [55,062ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget() not allowed while simulation is running. Call will be ignored., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 301
2023-05-31 14:54:20 [55,063ms] [Error] [omni.physx.plugin] PhysX error: Concurrent API write call or overlapping API read and write call detected during fetchResults from thread -1744832768! Note that write operations to the SDK must be sequential, i.e., no overlap with other write or read calls, else the resulting behavior is undefined. Also note that API writes during a callback function are not permitted., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpCheck.cpp, LINE 95
2023-05-31 14:54:20 [55,063ms] [Error] [omni.physx.plugin] PhysX error: Leaving setDriveTarget on thread -1525627904, an overlapping API read or write by another thread was detected., FILE /buildAgent/work/16dcef52b68a730f/source/physx/src/NpCheck.cpp, LINE 127
I have similar errors also with Gain Tuner with Lula robot Description Editor, I do not know if they are all related. It could be that something is wrong with the urdf of the robot.usd file.
Any idea what could be wrong? Note: I am running Isaac Sim on a docker container.