Exact usecase of GeometryPrim(prim_path=str(my_prim.GetPrimPath()), collision=True)

[mona.jalal]

Hi @toni.sm

Collision / rigid body sim not working with different assets

Hi, I’m currently working on a custom scene based on the Offline Dataset Generation example that needs to use custom usd assets. I ran into some issues with physics in Isaac Sim and my custom assets, but was able to reproduce the same issue with standard nucleus assets. If you use an asset other than the example, it will slip through the ground plane or the other collision objects (see video). The script to replicate the issue is also included. Comment out line 56 to switch to a nucleus asset …

In the code you have attached in the above link,

        # Wrap the prim into a geometry prim to enable collision shapes
        box_geometry_prim = GeometryPrim(prim_path=str(box_prim.GetPrimPath()), collision=True)

        # Register rigid prim with the scene
        #world.scene.add(box_rigid_prim)
        world.scene.add(box_geometry_prim)

Originally, box_geometry_prim was unused. Was that a typo/mistake?

I ran both world.scene.add(box_rigid_prim) and world.scene.add(box_geometry_prim) separately, and in neither case any collision happened (the object didn’t go into pallet and neither of them went into blue plane).

Could you please explain why you code was unused?

Original code from you: (data_gen_example.py)

# Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto.  Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.

"""Generate offline synthetic dataset

Based on: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_replicator_offline_generation.html

"""
from omni.isaac.kit import SimulationApp
import os

# Set rendering parameters and create an instance of kit
CONFIG = {"renderer": "RayTracedLighting", "headless": True, "width": 1024, "height": 1024, "num_frames": 100}
simulation_app = SimulationApp(launch_config=CONFIG)

PALLET_URL = "/Isaac/Environments/Simple_Warehouse/Props/SM_PaletteA_01.usd"
CARDBOX_URL = "/Isaac/Environments/Simple_Warehouse/Props/SM_CardBoxD_04.usd"
SCOPE_NAME = "/MyScope"

import carb
import random
import math
import numpy as np
from pxr import UsdGeom, Usd, Gf, UsdPhysics, PhysxSchema

import omni.usd
from omni.isaac.core import World
from omni.isaac.core.utils import prims
from omni.isaac.core.prims import RigidPrim
from omni.isaac.core.prims import GeometryPrim
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import get_current_stage, open_stage
from omni.isaac.core.utils.rotations import euler_angles_to_quat, quat_to_euler_angles, lookat_to_quatf
from omni.isaac.core.utils.bounds import compute_combined_aabb, create_bbox_cache

import omni.replicator.core as rep

# Increase subframes if shadows/ghosting appears of moving objects
# See known issues: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator.html#known-issues
rep.settings.carb_settings("/omni/replicator/RTSubframes", 2)

# Helper function to find the assets server
def prefix_with_isaac_asset_server(relative_path):
    assets_root_path = get_assets_root_path()
    if assets_root_path is None:
        raise Exception("Nucleus server not found, could not access Isaac Sim assets folder")
    return assets_root_path + relative_path

# working usd asset:
# box_usd_path = prefix_with_isaac_asset_server(CARDBOX_URL)
# not working example usd asset:  (uncomment next line to try)
box_usd_path = prefix_with_isaac_asset_server("/Isaac/Props/YCB/Axis_Aligned/003_cracker_box.usd")

def simulate_falling_objects(num_sim_steps=1, num_boxes=1):
    # Create a simulation ready world
    world = World(physics_dt=1.0 / 90.0, stage_units_in_meters=1.0)
    world.scene.add_default_ground_plane()

    print(prefix_with_isaac_asset_server(PALLET_URL))
    # Spawn pallet prim
    pallet_prim_name = "SimulatedPallet"
    pallet_prim = prims.create_prim(
        prim_path=f"{SCOPE_NAME}/{pallet_prim_name}",
        usd_path=prefix_with_isaac_asset_server(PALLET_URL),
        semantic_label="Pallet",
    )

    # Get the height of the pallet
    bb_cache = create_bbox_cache()
    curr_spawn_height = bb_cache.ComputeLocalBound(pallet_prim).GetRange().GetSize()[2] * 1.1

    # Wrap the pallet prim into a rigid prim to be able to simulate it
    pallet_rigid_prim = RigidPrim(
        prim_path=str(pallet_prim.GetPrimPath()),
        name=pallet_prim_name,
        position=(0, 0, 1),
    )

    # Make sure physics are enabled on the rigid prim
    pallet_rigid_prim.enable_rigid_body_physics()

    # Register rigid prim with the scene
    world.scene.add(pallet_rigid_prim)

    # Spawn boxes falling on the pallet
    for i in range(num_boxes):
        # Spawn box prim
        cardbox_prim_name = f"SimulatedBox_{i}"
        box_prim = prims.create_prim(
            prim_path=f"{SCOPE_NAME}/{cardbox_prim_name}",
            usd_path=box_usd_path,
            semantic_label="box",
        )

        # Add the height of the box to the current spawn height
        curr_spawn_height += bb_cache.ComputeLocalBound(box_prim).GetRange().GetSize()[2] * 1.1

        # Wrap the cardbox prim into a rigid prim to be able to simulate it
        box_rigid_prim = RigidPrim(
            prim_path=str(box_prim.GetPrimPath()),
            name=cardbox_prim_name,
            position=(random.random()*2-1, random.random()*2-1, random.random() + 1.2),
            orientation=euler_angles_to_quat([0, 0, random.uniform(0, math.pi)]),
        )

        # Make sure physics are enabled on the rigid prim
        box_rigid_prim.enable_rigid_body_physics()

        # Wrap the prim into a geometry prim to enable collision shapes
        box_geometry_prim = GeometryPrim(prim_path=str(box_prim.GetPrimPath()), collision=True)

        # Register rigid prim with the scene
        world.scene.add(box_rigid_prim)
        
    # Reset world after adding simulated assets for physics handles to be propagated properly
    world.reset()

    # Simulate the world for the given number of steps or until the highest box stops moving
    last_box = world.scene.get_object(f"SimulatedCardbox_{num_boxes - 1}")
    for i in range(num_sim_steps):
        world.step(render=False)
        if last_box and np.linalg.norm(last_box.get_linear_velocity()) < 0.001:
            print(f"Simulation stopped after {i} steps")
            break


# Starts replicator and waits until all data was successfully written
def run_orchestrator():
    rep.orchestrator.run()

    # Wait until started
    while not rep.orchestrator.get_is_started():
        simulation_app.update()

    # Wait until stopped
    while rep.orchestrator.get_is_started():
        simulation_app.update()

    rep.BackendDispatch.wait_until_done()
    rep.orchestrator.stop()


def main():
    # Simulate dropping objects on a pile behind the forklift
    simulate_falling_objects()

    # Camera looking at the forklift from a top view with large min clipping to see the scene through the ceiling
    top_view_cam = rep.create.camera(clipping_range=(0.000001, 9000000.0))

    with rep.trigger.on_frame(num_frames=CONFIG["num_frames"]):
        with top_view_cam:
            rep.modify.pose(
                position=rep.distribution.uniform(
                    (0, 3, 5), (0, 3, 5)
                ),
                look_at=(0, 0, 1)
            )

    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")
    output_directory = os.getcwd() + "/_output_headless"
    print("Outputting data to ", output_directory)
    writer.initialize(
        output_dir=output_directory,
        rgb=True,
        bounding_box_2d_tight=False,
        semantic_segmentation=False,
        instance_segmentation=False,
        distance_to_image_plane=False,
        bounding_box_3d=False,
        occlusion=False,
        normals=False,
    )

    RESOLUTION = (CONFIG["width"], CONFIG["height"])
    forklift_rp = rep.create.render_product(top_view_cam, RESOLUTION)
    writer.attach([forklift_rp])

    run_orchestrator()
    simulation_app.update()


if __name__ == "__main__":
    try:
        main()
    except Exception as e:
        carb.log_error(f"Exception: {e}")
        import traceback

        traceback.print_exc()
    finally:
        simulation_app.close()

Please note I am asking this wrt to Adding collision enabled to all the tiles in full_warehouse.usd in a more automatic way where I have manually added rigid body to my objects of interest along with collision enabled (convex hull max 64 vertices). and still my objects fall into the floor of full_warehouse.usd (when I separately simulate using physics simulation in Isaac Sim, same object that I have added the rigid body with preset collider onto it, doesn’t fall into the ground).

Also, when I run your code in Isaac Sim 4.2.0, I get this error, what is the reason and how can it be fixed?

2025-01-28 18:12:06 [5,565ms] [Warning] [omni.graph.core._impl._registration.register_python_ogn] Python import process in omni.anim.graph.core failed - 'NoneType' object is not subscriptable. Aborting Python node registration

[mona.jalal]

Followup when #boxes > 1:

I ran the following (4 boxes):

# Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto.  Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.

"""Generate offline synthetic dataset

Based on: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_replicator_offline_generation.html

"""
from omni.isaac.kit import SimulationApp
import os

# Set rendering parameters and create an instance of kit
CONFIG = {"renderer": "RayTracedLighting", "headless": True, "width": 1024, "height": 1024, "num_frames": 100}
simulation_app = SimulationApp(launch_config=CONFIG)

PALLET_URL = "/Isaac/Environments/Simple_Warehouse/Props/SM_PaletteA_01.usd"
CARDBOX_URL = "/Isaac/Environments/Simple_Warehouse/Props/SM_CardBoxD_04.usd"
SCOPE_NAME = "/MyScope"

import carb
import random
import math
import numpy as np
from pxr import UsdGeom, Usd, Gf, UsdPhysics, PhysxSchema

import omni.usd
from omni.isaac.core import World
from omni.isaac.core.utils import prims
from omni.isaac.core.prims import RigidPrim
from omni.isaac.core.prims import GeometryPrim
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import get_current_stage, open_stage
from omni.isaac.core.utils.rotations import euler_angles_to_quat, quat_to_euler_angles, lookat_to_quatf
from omni.isaac.core.utils.bounds import compute_combined_aabb, create_bbox_cache

import omni.replicator.core as rep

# Increase subframes if shadows/ghosting appears of moving objects
# See known issues: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator.html#known-issues
rep.settings.carb_settings("/omni/replicator/RTSubframes", 2)

# Helper function to find the assets server
def prefix_with_isaac_asset_server(relative_path):
    assets_root_path = get_assets_root_path()
    if assets_root_path is None:
        raise Exception("Nucleus server not found, could not access Isaac Sim assets folder")
    return assets_root_path + relative_path

# working usd asset:
# box_usd_path = prefix_with_isaac_asset_server(CARDBOX_URL)
# not working example usd asset:  (uncomment next line to try)
box_usd_path = prefix_with_isaac_asset_server("/Isaac/Props/YCB/Axis_Aligned/003_cracker_box.usd")

def simulate_falling_objects(num_sim_steps=1, num_boxes=4):
    # Create a simulation ready world
    world = World(physics_dt=1.0 / 90.0, stage_units_in_meters=1.0)
    world.scene.add_default_ground_plane()

    print(prefix_with_isaac_asset_server(PALLET_URL))
    # Spawn pallet prim
    pallet_prim_name = "SimulatedPallet"
    pallet_prim = prims.create_prim(
        prim_path=f"{SCOPE_NAME}/{pallet_prim_name}",
        usd_path=prefix_with_isaac_asset_server(PALLET_URL),
        semantic_label="Pallet",
    )

    # Get the height of the pallet
    bb_cache = create_bbox_cache()
    curr_spawn_height = bb_cache.ComputeLocalBound(pallet_prim).GetRange().GetSize()[2] * 1.1

    # Wrap the pallet prim into a rigid prim to be able to simulate it
    pallet_rigid_prim = RigidPrim(
        prim_path=str(pallet_prim.GetPrimPath()),
        name=pallet_prim_name,
        position=(0, 0, 1),
    )

    # Make sure physics are enabled on the rigid prim
    pallet_rigid_prim.enable_rigid_body_physics()

    # Register rigid prim with the scene
    world.scene.add(pallet_rigid_prim)

    # Spawn boxes falling on the pallet
    for i in range(num_boxes):
        # Spawn box prim
        cardbox_prim_name = f"SimulatedBox_{i}"
        box_prim = prims.create_prim(
            prim_path=f"{SCOPE_NAME}/{cardbox_prim_name}",
            usd_path=box_usd_path,
            semantic_label="box",
        )

        # Add the height of the box to the current spawn height
        curr_spawn_height += bb_cache.ComputeLocalBound(box_prim).GetRange().GetSize()[2] * 1.1

        # Wrap the cardbox prim into a rigid prim to be able to simulate it
        box_rigid_prim = RigidPrim(
            prim_path=str(box_prim.GetPrimPath()),
            name=cardbox_prim_name,
            position=(random.random()*2-1, random.random()*2-1, random.random() + 1.2),
            orientation=euler_angles_to_quat([0, 0, random.uniform(0, math.pi)]),
        )

        # Make sure physics are enabled on the rigid prim
        box_rigid_prim.enable_rigid_body_physics()

        # Wrap the prim into a geometry prim to enable collision shapes
        box_geometry_prim = GeometryPrim(prim_path=str(box_prim.GetPrimPath()), collision=True)

        # Register rigid prim with the scene
        #world.scene.add(box_rigid_prim)
        world.scene.add(box_geometry_prim)
    # Reset world after adding simulated assets for physics handles to be propagated properly
    world.reset()

    # Simulate the world for the given number of steps or until the highest box stops moving
    last_box = world.scene.get_object(f"SimulatedCardbox_{num_boxes - 1}")
    for i in range(num_sim_steps):
        world.step(render=False)
        if last_box and np.linalg.norm(last_box.get_linear_velocity()) < 0.001:
            print(f"Simulation stopped after {i} steps")
            break


# Starts replicator and waits until all data was successfully written
def run_orchestrator():
    rep.orchestrator.run()

    # Wait until started
    while not rep.orchestrator.get_is_started():
        simulation_app.update()

    # Wait until stopped
    while rep.orchestrator.get_is_started():
        simulation_app.update()

    rep.BackendDispatch.wait_until_done()
    rep.orchestrator.stop()


def main():
    # Simulate dropping objects on a pile behind the forklift
    simulate_falling_objects()

    # Camera looking at the forklift from a top view with large min clipping to see the scene through the ceiling
    top_view_cam = rep.create.camera(clipping_range=(0.000001, 9000000.0))

    with rep.trigger.on_frame(num_frames=CONFIG["num_frames"]):
        with top_view_cam:
            rep.modify.pose(
                position=rep.distribution.uniform(
                    (0, 3, 5), (0, 3, 5)
                ),
                look_at=(0, 0, 1)
            )

    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")
    output_directory = os.getcwd() + "/_output_headless"
    print("Outputting data to ", output_directory)
    writer.initialize(
        output_dir=output_directory,
        rgb=True,
        bounding_box_2d_tight=False,
        semantic_segmentation=False,
        instance_segmentation=False,
        distance_to_image_plane=False,
        bounding_box_3d=False,
        occlusion=False,
        normals=False,
    )

    RESOLUTION = (CONFIG["width"], CONFIG["height"])
    forklift_rp = rep.create.render_product(top_view_cam, RESOLUTION)
    writer.attach([forklift_rp])

    run_orchestrator()
    simulation_app.update()


if __name__ == "__main__":
    try:
        main()
    except Exception as e:
        carb.log_error(f"Exception: {e}")
        import traceback

        traceback.print_exc()
    finally:
        simulation_app.close()

and got this error (don’t get an error if num boxes is 1):

(base) mona@ada:~/.local/share/ov/pkg/isaac-sim-4.2.0$ ./python.sh  isaac_sim_data_generation/data_gen_example.py 
Warning: running in conda env, please deactivate before executing this script
If conda is desired please source setup_conda_env.sh in your python 3.10 conda env and run python normally
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] =========================== DEPRECATION WARNING ===========================
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] Traceback (most recent call last):
[Warning] [omni.isaac.kit] File '/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/isaac_sim_data_generation/data_gen_example.py', line 14
[Warning] [omni.isaac.kit]   from omni.isaac.kit import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] Please import 'isaacsim' before importing the 'omni.isaac.kit' extension...
[Warning] [omni.isaac.kit]   >>> import isaacsim
[Warning] [omni.isaac.kit]   >>> from omni.isaac.kit import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] or get the 'SimulationApp' class directly from the 'isaacsim' module
[Warning] [omni.isaac.kit]   >>> from isaacsim import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] ===========================================================================
[Warning] [omni.isaac.kit] 
Starting kit application with the following args:  ['/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1024', '--/app/renderer/resolution/height=1024', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/exts', '--ext-folder', '/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/apps', '--/physics/cudaDevice=0', '--portable', '--no-window', '--/app/window/hideUi=1']
Passing the following args to the base kit application:  []
[Info] [carb] Logging to file: /home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/kit/logs/Kit/Isaac-Sim/4.2/kit_20250128_131456.log
2025-01-28 18:14:56 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.102s] [ext: omni.blobkey-1.1.2] startup
[0.102s] [ext: omni.kit.async_engine-0.0.1] startup
[0.522s] [ext: omni.stats-1.0.1] startup
[0.524s] [ext: omni.datastore-0.0.0] startup
[0.529s] [ext: omni.client-1.2.0] startup
[0.553s] [ext: omni.ujitso.default-1.0.0] startup
[0.554s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[0.558s] [ext: omni.hsscclient-1.1.1] startup
[0.558s] [ext: omni.assets.plugins-0.0.0] startup
[0.560s] [ext: omni.gpu_foundation-0.0.0] startup
[0.568s] [ext: carb.windowing.plugins-1.0.0] startup
[0.596s] [ext: omni.kit.renderer.init-0.0.0] startup

|---------------------------------------------------------------------------------------------|
| Driver Version: 565.57.01     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA RTX 6000 Ada Generation   | Yes: 0 |     | 49140   MB | 10de      | 0          |
|     |                                  |        |     |            | 26b1      | adc95203.. |
|     |                                  |        |     |            | 52        |            |
|=============================================================================================|
| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 6.8.0-49-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: Intel(R) Xeon(R) w5-3435X | Cores: 16 | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 128263 | Free Memory: 39620
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2025-01-28 18:14:57 [1,247ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
[1.495s] [ext: omni.kit.pipapi-0.0.0] startup
[1.496s] [ext: omni.kit.pip_archive-0.0.0] startup
[1.496s] [ext: omni.pip.compute-1.4.0] startup
[1.497s] [ext: omni.materialx.libs-1.0.4] startup
[1.504s] [ext: omni.pip.cloud-1.1.3] startup
[1.507s] [ext: omni.isaac.core_archive-2.3.0] startup
[1.507s] [ext: omni.usd.config-1.0.4] startup
[1.510s] [ext: omni.gpucompute.plugins-0.0.0] startup
[1.510s] [ext: omni.usd.libs-1.0.1] startup
[1.585s] [ext: omni.isaac.ml_archive-2.0.1] startup
[1.585s] [ext: omni.iray.libs-0.0.0] startup
[1.590s] [ext: omni.mdl.neuraylib-0.2.8] startup
[1.592s] [ext: omni.mdl-55.0.1] startup
[1.614s] [ext: omni.kit.usd.mdl-1.0.1] startup
[1.732s] [ext: omni.services.pip_archive-0.13.6] startup
[1.733s] [ext: omni.kit.loop-isaac-1.2.0] startup
[1.733s] [ext: omni.kit.test-1.1.0] startup
[1.782s] [ext: omni.kit.telemetry-0.5.0] startup
[1.810s] [ext: omni.appwindow-1.1.8] startup
[1.813s] [ext: omni.kit.renderer.core-1.0.2] startup
[1.983s] [ext: omni.kit.renderer.capture-0.0.0] startup
[1.985s] [ext: omni.kit.renderer.imgui-1.0.1] startup
[2.066s] [ext: omni.ui-2.25.22] startup
[2.076s] [ext: omni.kit.mainwindow-1.0.3] startup
[2.077s] [ext: carb.audio-0.1.0] startup
[2.080s] [ext: omni.uiaudio-1.0.0] startup
[2.081s] [ext: omni.kit.uiapp-0.0.0] startup
[2.081s] [ext: omni.usd.schema.physx-106.1.9] startup
[2.110s] [ext: omni.usd.schema.anim-0.0.0] startup
[2.131s] [ext: omni.usd.schema.isaac-2.1.0] startup
[2.139s] [ext: omni.usd.schema.semantics-0.0.0] startup
[2.142s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[2.147s] [ext: omni.anim.navigation.schema-106.1.0] startup
[2.153s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[2.159s] [ext: omni.anim.graph.schema-106.1.0] startup
[2.165s] [ext: omni.usd.schema.scene.visualization-2.0.2] startup
[2.166s] [ext: omni.usd.schema.audio-0.0.0] startup
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2025-01-28 18:15:00 [4,476ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
Warp 1.2.1 initialized:
   CUDA Toolkit 11.8, Driver 12.7
   Devices:
     "cpu"      : "x86_64"
     "cuda:0"   : "NVIDIA RTX 6000 Ada Generation" (47 GiB, sm_89, mempool enabled)
   Kernel cache:
     /home/mona/.cache/warp/1.2.1
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2025-01-28 18:15:02 [5,484ms] [Warning] [omni.graph.core._impl._registration.register_python_ogn] Python import process in omni.anim.graph.core failed - 'NoneType' object is not subscriptable. Aborting Python node registration
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[omni.replicator.agent.Core] Extension startup
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2025-01-28 18:15:02 [6,408ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
2025-01-28 18:15:03 [6,682ms] [Warning] [pxr.AnimGraphSchema] pxr.AnimGraphSchema is deprecated - please use AnimGraphSchema instead
2025-01-28 18:15:03 [6,682ms] [Warning] [pxr.RetargetingSchema] pxr.RetargetingSchema is deprecated - please use RetargetingSchema instead
[6.757s] [ext: omni.replicator.isaac-1.15.2] startup
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[6.851s] [ext: omni.isaac.sim.python-4.2.0] startup
[6.853s] Simulation App Starting
[omni.replicator.agent.Core] Extension startup async done
[10.590s] app ready
[11.376s] Simulation App Startup Complete
2025-01-28 18:15:07 [11,307ms] [Warning] [omni.isaac.core.utils.nucleus] Deprecation warning: this function has been moved to omni.isaac.nucleus
2025-01-28 18:15:07 [11,442ms] [Warning] [omni.isaac.core.utils.nucleus] Deprecation warning: this function has been moved to omni.isaac.nucleus
http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Environments/Simple_Warehouse/Props/SM_PaletteA_01.usd
2025-01-28 18:15:07 [11,442ms] [Warning] [omni.isaac.core.utils.nucleus] Deprecation warning: this function has been moved to omni.isaac.nucleus
2025-01-28 18:15:08 [12,215ms] [Error] [__main__] Exception: Cannot add the object geometry_prim to the scene since its name is not unique
Traceback (most recent call last):
  File "/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/isaac_sim_data_generation/data_gen_example.py", line 190, in <module>
    main()
  File "/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/isaac_sim_data_generation/data_gen_example.py", line 150, in main
    simulate_falling_objects()
  File "/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/isaac_sim_data_generation/data_gen_example.py", line 119, in simulate_falling_objects
    world.scene.add(box_geometry_prim)
  File "/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 121, in add
    raise Exception("Cannot add the object {} to the scene since its name is not unique".format(obj.name))
Exception: Cannot add the object geometry_prim to the scene since its name is not unique
2025-01-28 18:15:10 [13,555ms] [Warning] [omni.usd] Unexpected reference count of 2 for UsdStage 'anon:0x168adfc0:World0.usd' while being closed in UsdContext (this may indicate it is still resident in memory).
[13.726s] Simulation App Shutting Down

if in the code in this comment, I only change the following, it works:

        world.scene.add(box_rigid_prim)
        # world.scene.add(box_geometry_prim)

I have:

(base) mona@ada:~/.local/share/ov/pkg/isaac-sim-4.2.0$ ./python.sh  isaac_sim_data_generation/data_gen_example.py 
Warning: running in conda env, please deactivate before executing this script
If conda is desired please source setup_conda_env.sh in your python 3.10 conda env and run python normally
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] =========================== DEPRECATION WARNING ===========================
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] Traceback (most recent call last):
[Warning] [omni.isaac.kit] File '/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/isaac_sim_data_generation/data_gen_example.py', line 14
[Warning] [omni.isaac.kit]   from omni.isaac.kit import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] Please import 'isaacsim' before importing the 'omni.isaac.kit' extension...
[Warning] [omni.isaac.kit]   >>> import isaacsim
[Warning] [omni.isaac.kit]   >>> from omni.isaac.kit import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] or get the 'SimulationApp' class directly from the 'isaacsim' module
[Warning] [omni.isaac.kit]   >>> from isaacsim import SimulationApp
[Warning] [omni.isaac.kit] 
[Warning] [omni.isaac.kit] ===========================================================================
[Warning] [omni.isaac.kit] 
Starting kit application with the following args:  ['/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1024', '--/app/renderer/resolution/height=1024', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/exts', '--ext-folder', '/home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/apps', '--/physics/cudaDevice=0', '--portable', '--no-window', '--/app/window/hideUi=1']
Passing the following args to the base kit application:  []
[Info] [carb] Logging to file: /home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/kit/logs/Kit/Isaac-Sim/4.2/kit_20250128_131747.log
2025-01-28 18:17:47 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.095s] [ext: omni.blobkey-1.1.2] startup
[0.095s] [ext: omni.kit.async_engine-0.0.1] startup
[0.531s] [ext: omni.stats-1.0.1] startup
[0.532s] [ext: omni.datastore-0.0.0] startup
[0.538s] [ext: omni.client-1.2.0] startup
[0.572s] [ext: omni.ujitso.default-1.0.0] startup
[0.573s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[0.578s] [ext: omni.hsscclient-1.1.1] startup
[0.578s] [ext: omni.assets.plugins-0.0.0] startup
[0.579s] [ext: omni.gpu_foundation-0.0.0] startup
[0.587s] [ext: carb.windowing.plugins-1.0.0] startup
[0.616s] [ext: omni.kit.renderer.init-0.0.0] startup

|---------------------------------------------------------------------------------------------|
| Driver Version: 565.57.01     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA RTX 6000 Ada Generation   | Yes: 0 |     | 49140   MB | 10de      | 0          |
|     |                                  |        |     |            | 26b1      | adc95203.. |
|     |                                  |        |     |            | 52        |            |
|=============================================================================================|
| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 6.8.0-49-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: Intel(R) Xeon(R) w5-3435X | Cores: 16 | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 128263 | Free Memory: 39517
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2025-01-28 18:17:48 [1,263ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
[1.497s] [ext: omni.kit.pipapi-0.0.0] startup
[1.499s] [ext: omni.kit.pip_archive-0.0.0] startup
[1.499s] [ext: omni.pip.compute-1.4.0] startup
[1.499s] [ext: omni.materialx.libs-1.0.4] startup
[1.507s] [ext: omni.pip.cloud-1.1.3] startup
[1.510s] [ext: omni.isaac.core_archive-2.3.0] startup
[1.510s] [ext: omni.usd.config-1.0.4] startup
[1.513s] [ext: omni.gpucompute.plugins-0.0.0] startup
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[1.585s] [ext: omni.iray.libs-0.0.0] startup
[1.590s] [ext: omni.mdl.neuraylib-0.2.8] startup
[1.591s] [ext: omni.mdl-55.0.1] startup
[1.613s] [ext: omni.kit.usd.mdl-1.0.1] startup
[1.715s] [ext: omni.services.pip_archive-0.13.6] startup
[1.715s] [ext: omni.kit.loop-isaac-1.2.0] startup
[1.716s] [ext: omni.kit.test-1.1.0] startup
[1.762s] [ext: omni.kit.telemetry-0.5.0] startup
[1.789s] [ext: omni.appwindow-1.1.8] startup
[1.793s] [ext: omni.kit.renderer.core-1.0.2] startup
[1.943s] [ext: omni.kit.renderer.capture-0.0.0] startup
[1.945s] [ext: omni.kit.renderer.imgui-1.0.1] startup
[2.031s] [ext: omni.ui-2.25.22] startup
[2.041s] [ext: omni.kit.mainwindow-1.0.3] startup
[2.042s] [ext: carb.audio-0.1.0] startup
[2.045s] [ext: omni.uiaudio-1.0.0] startup
[2.046s] [ext: omni.kit.uiapp-0.0.0] startup
[2.046s] [ext: omni.usd.schema.physx-106.1.9] startup
[2.075s] [ext: omni.usd.schema.anim-0.0.0] startup
[2.095s] [ext: omni.usd.schema.isaac-2.1.0] startup
[2.101s] [ext: omni.usd.schema.semantics-0.0.0] startup
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[2.109s] [ext: omni.anim.navigation.schema-106.1.0] startup
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[2.121s] [ext: omni.anim.graph.schema-106.1.0] startup
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[2.134s] [ext: omni.anim.behavior.schema-106.1.0] startup
[2.138s] [ext: omni.usd.schema.forcefield-106.1.9] startup
[2.144s] [ext: omni.usd_resolver-1.0.0] startup
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[2.150s] [ext: omni.ujitso.processor.texture-1.0.0] startup
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[2.156s] [ext: omni.activity.core-1.0.1] startup
[2.158s] [ext: omni.graph.exec-0.9.4] startup
[2.159s] [ext: omni.kit.actions.core-1.0.0] startup
[2.161s] [ext: usdrt.scenegraph-7.5.0] startup
[2.204s] [ext: omni.resourcemonitor-105.0.1] startup
[2.206s] [ext: omni.kit.audiodeviceenum-1.0.1] startup
[2.207s] [ext: omni.kit.exec.core-0.13.4] startup
[2.210s] [ext: omni.kit.commands-1.4.9] startup
[2.213s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
[2.227s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
[2.228s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
[2.233s] [ext: omni.timeline-1.0.10] startup
[2.234s] [ext: omni.kit.widget.nucleus_connector-1.1.9] startup
[2.236s] [ext: omni.kit.usd_undo-0.1.8] startup
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[2.281s] [ext: omni.inspect-1.0.1] startup
[2.283s] [ext: omni.hydra.rtx-1.0.0] startup
[2.301s] [ext: omni.hydra.engine.stats-1.0.2] startup
[2.304s] [ext: omni.convexdecomposition-106.1.9] startup
[2.308s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[2.311s] [ext: omni.kit.raycast.query-1.0.5] startup
[2.316s] [ext: omni.kit.widget.graph-1.12.15] startup
[2.320s] [ext: omni.kit.widget.filter-1.1.4] startup
[2.321s] [ext: omni.kit.viewport.registry-104.0.6] startup
[2.321s] [ext: omni.kit.viewport.legacy_gizmos-1.1.0] startup
[2.323s] [ext: omni.kit.helper.file_utils-0.1.8] startup
[2.325s] [ext: omni.kit.widget.nucleus_info-1.0.2] startup
[2.325s] [ext: omni.kit.menu.core-1.0.4] startup
[2.326s] [ext: omni.kit.widget.path_field-2.0.10] startup
[2.327s] [ext: omni.kit.widget.filebrowser-2.10.51] startup
[2.331s] [ext: omni.kit.search_core-1.0.5] startup
[2.331s] [ext: omni.kit.widget.context_menu-1.2.2] startup
[2.332s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
[2.333s] [ext: omni.kit.notification_manager-1.0.9] startup
[2.335s] [ext: omni.kit.widget.search_delegate-1.0.5] startup
[2.336s] [ext: omni.kit.collaboration.telemetry-1.0.0] startup
[2.337s] [ext: omni.ui.scene-1.10.3] startup
[2.341s] [ext: omni.kit.widget.options_button-1.0.3] startup
[2.342s] [ext: omni.kit.clipboard-1.0.4] startup
[2.342s] [ext: omni.kit.collaboration.channel_manager-1.0.12] startup
[2.343s] [ext: omni.kit.window.filepicker-2.10.40] startup
[2.354s] [ext: omni.kit.usd.layers-2.1.36] startup
[2.361s] [ext: omni.kit.window.file_importer-1.1.12] startup
[2.363s] [ext: omni.kit.menu.utils-1.5.27] startup
[2.370s] [ext: omni.kit.context_menu-1.8.1] startup
[2.372s] [ext: omni.kit.widget.searchfield-1.1.8] startup
[2.373s] [ext: omni.kit.material.library-1.5.6] startup
[2.376s] [ext: omni.kit.window.extensions-1.4.11] startup
[2.381s] [ext: omni.kit.hydra_texture-1.3.9] startup
[2.384s] [ext: omni.kit.window.drop_support-1.0.3] startup
[2.385s] [ext: omni.kit.widget.viewport-106.1.0] startup
[2.388s] [ext: omni.kvdb-106.1.9] startup
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[2.413s] [ext: omni.kit.viewport.utility-1.0.17] startup
[2.414s] [ext: omni.kit.primitive.mesh-1.0.17] startup
[2.417s] [ext: omni.physx.cooking-106.1.9] startup
[2.428s] [ext: omni.kit.stage_template.core-1.1.22] startup
[2.429s] [ext: omni.kit.property.adapter.core-1.0.1] startup
[2.431s] [ext: omni.physics.tensors-106.1.9] startup
[2.540s] [ext: omni.physx-106.1.9] startup
[2.556s] [ext: omni.kit.stage_templates-1.2.5] startup
[2.558s] [ext: omni.kit.property.adapter.usd-1.0.1] startup
[2.559s] [ext: omni.kit.property.adapter.fabric-1.0.1] startup
[2.560s] [ext: omni.physx.tensors-106.1.9] startup
[2.567s] [ext: omni.physx.stageupdate-106.1.9] startup
[2.570s] [ext: omni.kit.widget.highlight_label-1.0.2] startup
[2.570s] [ext: omni.kit.collaboration.presence_layer-1.0.9] startup
[2.572s] [ext: omni.isaac.version-1.1.0] startup
[2.573s] [ext: omni.kit.window.property-1.11.3] startup
[2.575s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
[2.576s] [ext: omni.kit.window.file_exporter-1.0.30] startup
[2.577s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
[2.578s] [ext: omni.kit.widget.settings-1.2.2] startup
[2.580s] [ext: omni.kit.widget.prompt-1.0.7] startup
[2.581s] [ext: omni.kit.window.file-1.3.54] startup
[2.584s] [ext: omni.kit.hotkeys.core-1.3.5] startup
[2.585s] [ext: omni.kit.window.preferences-1.6.0] startup
[2.595s] [ext: omni.kit.widget.live_session_management.ui-1.0.1] startup
[2.598s] [ext: omni.kit.window.content_browser-2.9.18] startup
[2.615s] [ext: omni.kit.widget.stage-2.11.2] startup
[2.625s] [ext: omni.kit.widget.live_session_management-1.2.20] startup
[2.628s] [ext: omni.isaac.nucleus-0.3.1] startup
[2.629s] [ext: omni.kit.property.usd-4.2.8] startup
[2.638s] [ext: omni.warp.core-1.2.1] startup
[2.747s] [ext: omni.ui_query-1.1.4] startup
[2.748s] [ext: omni.isaac.core-3.19.5] startup
[3.963s] [ext: omni.importer.urdf-1.14.1] startup
[4.006s] [ext: omni.graph.core-2.179.2] startup
[4.009s] [ext: omni.graph.tools-1.79.0] startup
[4.028s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[4.029s] [ext: omni.debugdraw-0.1.3] startup
[4.032s] [ext: omni.graph-1.140.0] startup
[4.072s] [ext: omni.kit.graph.delegate.modern-1.10.6] startup
[4.074s] [ext: omni.graph.ui-1.70.2] startup
[4.090s] [ext: omni.graph.action_core-1.1.6] startup
[4.095s] [ext: omni.kit.manipulator.viewport-107.0.0] startup
[4.099s] [ext: omni.graph.action_nodes-1.24.0] startup
[4.107s] [ext: omni.kit.ui_test-1.3.2] startup
[4.112s] [ext: omni.graph.visualization.nodes-2.1.1] startup
[4.130s] [ext: omni.graph.action-1.102.1] startup
[4.134s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
[4.137s] [ext: omni.isaac.ui-0.16.0] startup
[4.173s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[4.186s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[4.189s] [ext: omni.kit.graph.widget.variables-2.1.0] startup
[4.191s] [ext: omni.graph.scriptnode-1.20.1] startup
[4.193s] [ext: omni.graph.image.core-0.4.5] startup
[4.195s] [ext: omni.isaac.block_world-1.0.0] startup
[4.218s] [ext: omni.isaac.debug_draw-1.1.0] startup
[4.227s] [ext: omni.graph.window.core-1.113.1] startup
[4.241s] [ext: omni.kit.window.cursor-1.1.2] startup
[4.245s] [ext: omni.graph.image.nodes-1.1.0] startup
[4.248s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[4.250s] [ext: omni.isaac.occupancy_map-1.0.3] startup
[4.256s] [ext: omni.graph.window.generic-1.26.0] startup
[4.267s] [ext: omni.kit.viewport.menubar.core-106.1.0] startup
[4.282s] [ext: omni.graph.nodes-1.146.1] startup
[4.294s] [ext: omni.kit.window.material_graph-1.8.18] startup
[4.318s] [ext: omni.kit.numpy.common-0.1.2] startup
[4.324s] [ext: omni.syntheticdata-0.6.9] startup
[4.343s] [ext: omni.warp-1.2.1] startup
[4.353s] [ext: omni.isaac.menu-0.7.3] startup
[4.367s] [ext: omni.isaac.dynamic_control-1.3.8] startup
[4.391s] [ext: omni.sensors.nv.common-1.2.2-isaac-1] startup
[4.410s] [ext: omni.replicator.core-1.11.20] startup
2025-01-28 18:17:52 [4,421ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
Warp 1.2.1 initialized:
   CUDA Toolkit 11.8, Driver 12.7
   Devices:
     "cpu"      : "x86_64"
     "cuda:0"   : "NVIDIA RTX 6000 Ada Generation" (47 GiB, sm_89, mempool enabled)
   Kernel cache:
     /home/mona/.cache/warp/1.2.1
[4.633s] [ext: omni.kit.widget.stage_icons-1.0.5] startup
[4.638s] [ext: omni.kit.menu.file-1.1.14] startup
[4.642s] [ext: omni.sensors.nv.materials-1.2.1-isaac-1] startup
[4.646s] [ext: omni.isaac.core_nodes-1.16.3] startup
[4.668s] [ext: omni.kit.window.stage-2.5.10] startup
[4.689s] [ext: omni.isaac.range_sensor-3.1.2] startup
[4.787s] [ext: omni.sensors.nv.wpm-1.2.1-isaac-1] startup
[4.790s] [ext: omni.sensors.nv.lidar-1.2.2-isaac-1] startup
[4.797s] [ext: omni.sensors.nv.ids-1.1.0-isaac-1] startup
[4.802s] [ext: omni.kit.menu.stage-1.2.5] startup
[4.808s] [ext: omni.sensors.tiled-0.0.6] startup
[4.810s] [ext: omni.sensors.nv.radar-1.2.1-isaac-1] startup
[4.816s] [ext: omni.kit.property.audio-1.0.14] startup
[4.828s] [ext: omni.kit.property.geometry-1.3.1] startup
[4.836s] [ext: omni.kit.property.camera-1.0.8] startup
[4.841s] [ext: omni.isaac.sensor-12.9.1] startup
[4.944s] [ext: omni.hydra.scene_api-0.1.2] startup
[4.951s] [ext: omni.kit.property.material-1.10.8] startup
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[4.993s] [ext: omni.kit.profiler.window-2.2.3] startup
[5.066s] [ext: omni.kit.property.transform-1.5.9] startup
[5.072s] [ext: omni.kit.property.render-1.1.2] startup
[5.074s] [ext: omni.kit.property.isaac-0.2.3] startup
[5.077s] [ext: omni.kit.property.bundle-1.3.1] startup
[5.080s] [ext: omni.isaac.quadruped-2.0.1] startup
[5.092s] [ext: omni.kit.property.layer-1.1.8] startup
[5.097s] [ext: omni.kit.stage_column.payload-2.0.0] startup
[5.103s] [ext: omni.isaac.scene_blox-0.1.2] startup
[5.104s] [ext: omni.isaac.cloner-0.8.1] startup
[5.108s] [ext: omni.kit.widget.toolbar-1.7.2] startup
[5.115s] [ext: omni.kit.manipulator.transform-104.7.4] startup
[5.119s] [ext: omni.graph.window.action-1.28.0] startup
[5.127s] [ext: omni.kit.manipulator.tool.snap-1.5.11] startup
[5.133s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[5.135s] [ext: omni.isaac.lula-3.0.1] startup
[5.143s] [ext: omni.kit.viewport.manipulator.transform-107.0.2] startup
[5.145s] [ext: omni.kit.manipulator.camera-105.0.5] startup
[5.150s] [ext: omni.isaac.motion_generation-7.1.0] startup
[5.155s] [ext: omni.kit.manipulator.prim.core-107.0.4] startup
[5.165s] [ext: omni.fabric.commands-1.1.5] startup
[5.169s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[5.172s] [ext: omni.kit.viewport.actions-106.0.2] startup
[5.177s] [ext: omni.kit.manipulator.prim.fabric-107.0.3] startup
[5.179s] [ext: omni.kit.manipulator.prim.usd-107.0.2] startup
[5.181s] [ext: omni.isaac.surface_gripper-1.0.1] startup
[5.184s] [ext: omni.kit.viewport.menubar.render-106.1.1] startup
[5.193s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[5.206s] [ext: omni.kit.viewport.menubar.display-107.0.2] startup
[5.207s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[5.214s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[5.216s] [ext: omni.isaac.manipulators-2.1.0] startup
[5.218s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[5.225s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[5.226s] [ext: omni.isaac.universal_robots-0.3.5] startup
[5.229s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[5.243s] [ext: omni.usdphysics.ui-106.1.9] startup
[5.269s] [ext: omni.physx.commands-106.1.9] startup
[5.275s] [ext: omni.rtx.window.settings-0.6.17] startup
[5.281s] [ext: omni.isaac.franka-0.4.1] startup
[5.285s] [ext: omni.physx.ui-106.1.9] startup
[5.317s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[5.317s] [ext: omni.isaac.cortex-0.3.9] startup
[5.320s] [ext: omni.physx.demos-106.1.9] startup
[5.341s] [ext: omni.kit.property.physx-106.1.9] startup
[5.414s] [ext: omni.isaac.utils-1.0.1] startup
[5.420s] [ext: omni.isaac.cortex.sample_behaviors-1.0.6] startup
[5.425s] [ext: omni.physx.vehicle-106.1.9] startup
[5.449s] [ext: omni.anim.asset-106.1.0] startup
[5.454s] [ext: omni.anim.retarget.core-106.1.2] startup
[5.460s] [ext: omni.anim.navigation.core-106.1.3] startup
[5.465s] [ext: omni.physx.camera-106.1.9] startup
[5.476s] [ext: omni.physx.cct-106.1.9] startup
[5.488s] [ext: omni.kit.menu.create-1.0.16] startup
[5.494s] [ext: omni.anim.graph.core-106.1.2] startup
[5.528s] [ext: omni.anim.navigation.navmesh.recast-106.1.4] startup
[5.536s] [ext: omni.isaac.wheeled_robots-2.3.3] startup
[5.542s] [ext: omni.kit.quicklayout-1.0.7] startup
[5.546s] [ext: omni.kit.window.toolbar-1.6.1] startup
2025-01-28 18:17:53 [5,489ms] [Warning] [omni.graph.core._impl._registration.register_python_ogn] Python import process in omni.anim.graph.core failed - 'NoneType' object is not subscriptable. Aborting Python node registration
[5.558s] [ext: omni.kit.scripting-106.1.1] startup
[5.571s] [ext: omni.kit.window.console-0.2.13] startup
[5.583s] [ext: omni.kit.widget.live-2.1.8] startup
[5.588s] [ext: omni.kit.window.title-1.1.5] startup
[5.590s] [ext: omni.physx.graph-106.1.9] startup
[5.609s] [ext: omni.physx.supportui-106.1.9] startup
[5.633s] [ext: omni.kit.widget.calendar-1.0.8] startup
[5.638s] [ext: omni.kit.actions.window-1.1.1] startup
[5.644s] [ext: omni.kit.widget.cache_indicator-2.0.10] startup
[5.648s] [ext: omni.anim.people-0.5.0] startup
[5.666s] [ext: omni.kit.mesh.raycast-105.4.0] startup
[5.672s] [ext: omni.kit.widgets.custom-1.0.8] startup
[5.682s] [ext: omni.kit.widget.extended_searchfield-1.0.28] startup
[5.690s] [ext: omni.kit.hotkeys.window-1.4.5] startup
[5.698s] [ext: omni.physx.telemetry-106.1.9] startup
[5.700s] [ext: omni.graph.ui_nodes-1.26.0] startup
[5.704s] [ext: omni.kit.selection-0.1.4] startup
[5.707s] [ext: omni.kit.window.section-107.0.1] startup
[5.718s] [ext: omni.replicator.agent.core-0.4.1] startup
[omni.replicator.agent.Core] Extension startup
[5.724s] [ext: omni.kit.window.script_editor-1.7.6] startup
[5.730s] [ext: omni.graph.bundle.action-2.4.1] startup
[5.732s] [ext: omni.physx.bundle-106.1.9] startup
[5.735s] [ext: omni.kit.menu.edit-1.1.24] startup
[5.745s] [ext: omni.kit.window.status_bar-0.1.7] startup
[5.749s] [ext: omni.replicator.agent.camera_calibration-0.4.0] startup
[5.762s] [ext: omni.replicator.agent.ui-0.4.0] startup
2025-01-28 18:17:54 [6,507ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
2025-01-28 18:17:54 [6,792ms] [Warning] [pxr.AnimGraphSchema] pxr.AnimGraphSchema is deprecated - please use AnimGraphSchema instead
2025-01-28 18:17:54 [6,792ms] [Warning] [pxr.RetargetingSchema] pxr.RetargetingSchema is deprecated - please use RetargetingSchema instead
[6.866s] [ext: omni.replicator.isaac-1.15.2] startup
[6.890s] [ext: omni.replicator.replicator_yaml-2.0.6] startup
[6.900s] [ext: omni.kit.ui.actions-1.0.2] startup
[6.904s] [ext: omni.rtx.settings.core-0.6.3] startup
[6.920s] [ext: omni.kit.widget.timeline-105.0.1] startup
[6.931s] [ext: semantics.schema.editor-0.3.8] startup
[6.939s] [ext: semantics.schema.property-1.0.4] startup
[6.942s] [ext: omni.kit.window.commands-0.2.6] startup
[6.945s] [ext: omni.kit.menu.common-1.1.7] startup
[6.947s] [ext: omni.isaac.kit-1.13.2] startup
[6.948s] [ext: omni.importer.mjcf-1.1.1] startup
[6.957s] [ext: omni.kit.window.stats-0.1.6] startup
[6.960s] [ext: omni.isaac.sim.python-4.2.0] startup
[6.962s] Simulation App Starting
[omni.replicator.agent.Core] Extension startup async done
[10.772s] app ready
[11.574s] Simulation App Startup Complete
2025-01-28 18:17:59 [11,507ms] [Warning] [omni.isaac.core.utils.nucleus] Deprecation warning: this function has been moved to omni.isaac.nucleus
2025-01-28 18:17:59 [11,641ms] [Warning] [omni.isaac.core.utils.nucleus] Deprecation warning: this function has been moved to omni.isaac.nucleus
http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Environments/Simple_Warehouse/Props/SM_PaletteA_01.usd
2025-01-28 18:17:59 [11,641ms] [Warning] [omni.isaac.core.utils.nucleus] Deprecation warning: this function has been moved to omni.isaac.nucleus
2025-01-28 18:18:02 [14,467ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedPallet/SM_PaletteA_01. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:02 [14,468ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedBox_0. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:02 [14,469ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedBox_1. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:02 [14,470ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedBox_2. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:02 [14,472ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedBox_3. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:02 [14,745ms] [Warning] [omni.replicator.core.scripts.trigger] `trigger.on_frame` argument `num_frames` will be deprecated. Please use `max_execs`.
Outputting data to  /home/mona/.local/share/ov/pkg/isaac-sim-4.2.0/_output_headless
2025-01-28 18:18:02 [15,060ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
2025-01-28 18:18:32 [45,082ms] [Warning] [omni.replicator.core.scripts.orchestrator] Maximum loading time reached while waiting for assets to load. Asset loading may not have completed.
                Maximum asset loading time can be configured by setting the `/exts/omni.replicator.core/maxAssetLoadingTime` setting.
2025-01-28 18:18:32 [45,233ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedPallet/SM_PaletteA_01. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:32 [45,234ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedBox_0. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:32 [45,235ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedBox_1. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:32 [45,236ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedBox_2. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:32 [45,238ms] [Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) cannot be a part of a dynamic body, falling back to convexHull approximation: /MyScope/SimulatedBox_3. For dynamic collision please use approximations: convex hull, convex decomposition, box, sphere or SDF approximation.
2025-01-28 18:18:36 [48,984ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2025-01-28 18:18:36 [48,984ms] [Warning] [omni.usd] Unexpected reference count of 3 for UsdStage 'anon:0x151633e0:World0.usd' while being closed in UsdContext (this may indicate it is still resident in memory).
[49.164s] Simulation App Shutting Down

first frame before boxes falling onto pallet

and

last frame after objects fell onto pallet and plane