How to enable the "omnihydra scene graph instancing"

[blhf]

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

• Model: RTX4080 Super
• Driver Version: 550.144.03

Topic Description

Detailed Description

“omni.physx.fabric.plugin” warning.
I followed the instruction to import my vehicle urdf file to isaac sim. After that, I createed a new stage and loaded the converted usd file to the new stage. Then I added controller to my vehicle and start simulation. However my vehicle model did not move while the vehicle colliders moved. I received a warning said
“[Warning] [omni.physx.fabric.plugin] Prototype prims (instancing prototypes) are present in the stage but omnihydra scene graph instancing is not enabled! Please consider enabling it and reload the stage.”
From the suggestion from another post, I tried to run isaac sim with “./isaac-sim.sh --clear-data --clear-cache” but still failed.
Can you tell me where I can enable the “omnihydra scene graph instancing” ?

Steps to Reproduce

1. Write a urdf file for your robot
2. Import urdf to isaac sim
3. Create a new stage and include the corresponding usd file of the urdf.
4. Visualise all colliders
5. Start simulation and give any command to move the robot(eg. dragging the robot with “shift+left click”)

Error Messages

[Warning] [omni.physx.fabric.plugin] Prototype prims (instancing prototypes) are present in the stage but omnihydra scene graph instancing is not enabled! Please consider enabling it and reload the stage.

Screenshots or Videos

Additional Information

What I’ve Tried

./isaac-sim.sh --clear-data --clear-cache

[michalin]

In order to enable omnihydra instancing you can do

from isaacsim.core.utils.carb import set_carb_setting

set_carb_setting(sim._settings,“/persistent/omnihydra/useSceneGraphInstancing”, True)

But I don’t think this is causing your collider mesh to move independently of the visual mesh. One possible cause can be that the collisions mesh is a child of the primitive, but the visual mesh is not. Can you verify this? A quick way can be through looking at the instance tree in “Stage Panel”.