4.5.0
Ubuntu 22.04
I ran the simulation through IsaacSim using a Python script. When I closed the simulation, multiple warnings appeared. How can I solve these warnings?
Could you please provide a minimal, reproducible example of your Python script? This would greatly help in understanding and addressing the warning you’re encountering. Please include:
from isaacsim.simulation_app import SimulationApp
CONFIG = {
"width": 1920,
"height": 1080,
"headless": True,
"hide_ui": True,
"renderer": "RaytracedLighting",
}
print("starting simulation app with config:", CONFIG)
simulation_app = SimulationApp(launch_config=CONFIG)
this is the minimal example
you can just setup it using python3 test.py
and the result is
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Starting kit application with the following args: ['/home/fourier/Holen_dev/simulator/.venv/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/fourier/Holen_dev/simulator/.venv/lib/python3.10/site-packages/isaacsim/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/home/fourier/Holen_dev/simulator/.venv/lib/python3.10/site-packages/omni', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1920', '--/app/renderer/resolution/height=1080', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/fourier/Holen_dev/simulator/.venv/lib/python3.10/site-packages/isaacsim/exts', '--ext-folder', '/home/fourier/Holen_dev/simulator/.venv/lib/python3.10/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--portable', '--no-window', '--/app/window/hideUi=True']
Passing the following args to the base kit application: []
[Info] [carb] Logging to file: /home/fourier/Holen_dev/simulator/.venv/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim Python/4.5/kit_20250728_104845.log
2025-07-28 02:48:45 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.026s] [ext: omni.kit.async_engine-0.0.1] startup
[0.098s] [ext: omni.metrics.core-0.0.1] startup
[0.098s] [ext: omni.client.lib-1.0.0] startup
[0.114s] [ext: omni.blobkey-1.1.2] startup
[0.115s] [ext: omni.stats-1.0.1] startup
[0.115s] [ext: omni.datastore-0.0.0] startup
[0.119s] [ext: omni.client-1.2.2] startup
[0.122s] [ext: omni.ujitso.default-1.0.0] startup
[0.123s] [ext: omni.hsscclient-1.1.1] startup
2025-07-28 02:48:45 [115ms] [Warning] [omni.datastore] OmniHub is inaccessible
[0.125s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[0.128s] [ext: omni.assets.plugins-0.0.0] startup
[0.128s] [ext: omni.gpu_foundation-0.0.0] startup
[0.133s] [ext: carb.windowing.plugins-1.0.0] startup
2025-07-28 02:48:45 [124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-28 02:48:45 [124ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
[0.133s] [ext: omni.kit.renderer.init-0.0.0] startup
2025-07-28 02:48:45 [133ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|---------------------------------------------------------------------------------------------|
| Driver Version: 570.169 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24564 MB | 10de | 0 |
| | | | | | 2684 | c1f4b0a0.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-60-generic
| Processor: 13th Gen Intel(R) Core(TM) i7-13700KF
| Bare Metal Cores: 16 | Bare Metal Logical Cores: 32
| Available Cores: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31902 | Free Memory: 25414
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2046
|---------------------------------------------------------------------------------------------|
2025-07-28 02:48:46 [631ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
[0.758s] [ext: omni.kit.pipapi-0.0.0] startup
[0.759s] [ext: omni.materialx.libs-1.0.6] startup
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[0.763s] [ext: omni.usd.config-1.0.5] startup
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2025-07-28 02:48:46 [948ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-28 02:48:46 [948ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
[0.958s] [ext: omni.kit.renderer.core-1.0.2] startup
2025-07-28 02:48:46 [961ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-28 02:48:46 [961ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-07-28 02:48:46 [966ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-28 02:48:46 [966ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
[0.976s] [ext: omni.kit.renderer.capture-0.0.0] startup
[0.978s] [ext: omni.kit.renderer.imgui-1.0.2] startup
2025-07-28 02:48:46 [971ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-28 02:48:46 [971ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-07-28 02:48:46 [972ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-28 02:48:46 [972ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-07-28 02:48:46 [973ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-28 02:48:46 [973ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
[1.021s] [ext: omni.ui-2.26.5] startup
[1.027s] [ext: omni.kit.mainwindow-1.0.3] startup
[1.028s] [ext: carb.audio-0.1.0] startup
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[1.031s] [ext: omni.usd.schema.metrics.assembler-106.5.0] startup
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[1.048s] [ext: omni.usd.schema.audio-0.0.0] startup
[1.050s] [ext: omni.usd.schema.isaac-3.0.2] startup
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[1.110s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
[1.115s] [ext: omni.kit.actions.core-1.0.0] startup
[1.117s] [ext: omni.graph.exec-0.9.4] startup
[1.117s] [ext: omni.kit.commands-1.4.9] startup
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[1.121s] [ext: omni.kit.audiodeviceenum-1.0.1] startup
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[1.154s] [ext: omni.kit.notification_manager-1.0.9] startup
[1.155s] [ext: omni.graph.core-2.181.8] startup
[1.157s] [ext: isaacsim.core.deprecation_manager-0.2.2] startup
[1.158s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[1.160s] [ext: isaacsim.robot.schema-3.1.2] startup
[1.165s] [ext: omni.kit.asset_converter-2.8.3] startup
[1.171s] [ext: omni.kit.menu.core-1.1.2] startup
[1.172s] [ext: omni.kvdb-106.5.7] startup
[1.173s] [ext: omni.kit.widget.context_menu-1.2.4] startup
[1.173s] [ext: omni.kit.usd.layers-2.2.0] startup
[1.177s] [ext: omni.kit.property.adapter.core-1.0.2] startup
[1.178s] [ext: omni.localcache-106.5.7] startup
[1.179s] [ext: omni.convexdecomposition-106.5.7] startup
[1.182s] [ext: omni.warp.core-1.5.0] startup
[1.404s] [ext: omni.kit.context_menu-1.8.3] startup
[1.406s] [ext: omni.kit.hotkeys.core-1.3.10] startup
[1.408s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
[1.408s] [ext: omni.usdphysics-106.5.7] startup
[1.411s] [ext: omni.kit.widget.path_field-2.0.11] startup
[1.411s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[1.413s] [ext: omni.kit.helper.file_utils-0.1.9] startup
[1.414s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
[1.414s] [ext: omni.kit.widget.options_button-1.0.3] startup
[1.414s] [ext: omni.kit.widget.filebrowser-2.10.52] startup
[1.417s] [ext: omni.kit.clipboard-1.0.5] startup
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[1.477s] [ext: omni.kit.widget.filter-1.1.4] startup
[1.478s] [ext: omni.physx.foundation-106.5.7] startup
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[1.492s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
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[1.495s] [ext: omni.graph.action_core-1.1.7] startup
[1.498s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
[1.499s] [ext: omni.ujitso.processor.texture-1.0.0] startup
[1.500s] [ext: omni.index.libs-380600.1777.0] startup
[1.500s] [ext: omni.kit.window.file_importer-1.1.14] startup
[1.501s] [ext: omni.kit.stage_template.core-1.1.22] startup
[1.501s] [ext: omni.volume-0.5.0] startup
[1.505s] [ext: omni.ujitso.client-0.0.0] startup
[1.506s] [ext: omni.index-1.0.1] startup
[1.506s] [ext: omni.kit.window.file-1.3.57] startup
[1.508s] [ext: omni.hydra.rtx-1.0.0] startup
2025-07-28 02:48:47 [1,504ms] [Warning] [omni.log] Source: omni.hydra was already registered.
[1.522s] [ext: omni.kit.viewport.registry-104.0.6] startup
[1.522s] [ext: omni.kit.viewport.legacy_gizmos-1.0.16] startup
[1.524s] [ext: omni.kit.raycast.query-1.0.5] startup
[1.527s] [ext: omni.kit.viewport.scene_camera_model-1.0.5] startup
[1.530s] [ext: omni.kit.hydra_texture-1.4.0] startup
[1.533s] [ext: omni.kit.menu.utils-1.7.7] startup
[1.536s] [ext: omni.kit.window.drop_support-1.0.4] startup
[1.537s] [ext: omni.kit.widget.viewport-107.0.7] startup
[1.540s] [ext: omni.kit.material.library-1.5.15] startup
[1.543s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
[1.543s] [ext: omni.kit.viewport.window-107.0.8] startup
[1.554s] [ext: omni.graph.action_nodes-1.40.1] startup
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[1.560s] [ext: omni.kit.window.content_browser-2.10.3] startup
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[1.598s] [ext: omni.physx.cooking-106.5.7] startup
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[1.604s] [ext: omni.physics.tensors-106.5.7] startup
[1.609s] [ext: omni.kit.widget.prompt-1.0.7] startup
[1.610s] [ext: omni.kit.usd.collect-2.2.22] startup
[1.612s] [ext: omni.physx-106.5.7] startup
[1.621s] [ext: omni.kit.window.stage-2.5.11] startup
[1.623s] [ext: omni.kit.browser.core-2.3.11] startup
[1.626s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[1.627s] [ext: omni.physx.tensors-106.5.7] startup
[1.631s] [ext: omni.kit.tool.collect-2.2.16] startup
[1.632s] [ext: omni.kit.menu.stage-1.2.5] startup
[1.633s] [ext: omni.kit.browser.folder.core-1.10.1] startup
[1.636s] [ext: omni.warp-1.5.0] startup
[1.640s] [ext: isaacsim.examples.browser-0.1.8] startup
[1.643s] [ext: omni.physx.stageupdate-106.5.7] startup
[1.645s] [ext: omni.kit.numpy.common-0.1.2] startup
[1.646s] [ext: isaacsim.core.version-2.0.2] startup
[1.648s] [ext: omni.isaac.dynamic_control-1.3.15] startup
2025-07-28 02:48:47 [1,642ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
[1.651s] [ext: isaacsim.storage.native-1.0.6] startup
[1.654s] [ext: omni.kit.menu.create-1.0.17] startup
[1.656s] [ext: isaacsim.core.utils-2.2.8] startup
[1.658s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
[1.659s] [ext: omni.kit.primitive.mesh-1.0.17] startup
[1.666s] [ext: isaacsim.core.simulation_manager-0.3.3] startup
[2.496s] [ext: omni.kit.scripting-106.5.2] startup
[2.499s] [ext: omni.kit.stage_templates-1.2.6] startup
[2.501s] [ext: isaacsim.core.prims-0.3.7] startup
[2.512s] [ext: isaacsim.replicator.behavior-1.0.8] startup
[2.513s] [ext: isaacsim.core.api-4.2.16] startup
[2.519s] [ext: omni.ui_query-1.1.7] startup
[2.520s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
[2.521s] [ext: omni.kit.ui_test-1.3.3] startup
[2.522s] [ext: omni.kit.window.extensions-1.4.25] startup
[2.526s] [ext: omni.graph.visualization.nodes-2.1.1] startup
[2.530s] [ext: omni.kit.tool.asset_importer-2.12.2] startup
[2.543s] [ext: isaacsim.gui.components-1.0.9] startup
[2.546s] [ext: omni.kit.widget.settings-1.2.2] startup
[2.549s] [ext: omni.kit.widget.graph-1.12.17] startup
[2.552s] [ext: omni.kit.window.preferences-1.7.0] startup
[2.555s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
[2.556s] [ext: omni.kit.viewport.menubar.core-107.1.2] startup
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[2.565s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
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[2.608s] [ext: omni.graph.scriptnode-1.40.1] startup
[2.609s] [ext: isaacsim.core.cloner-1.3.4] startup
[2.611s] [ext: omni.replicator.core-1.11.35] startup
Warp 1.5.0 initialized:
CUDA Toolkit 11.8, Driver 12.8
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
Kernel cache:
/home/fourier/.cache/warp/1.5.0
2025-07-28 02:48:48 [2,658ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
[2.668s] [ext: omni.isaac.cloner-1.0.2] startup
2025-07-28 02:48:48 [2,661ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
[2.670s] [ext: isaacsim.core.nodes-2.1.4] startup
[2.681s] [ext: isaacsim.asset.importer.urdf-2.3.10] startup
[2.745s] [ext: omni.isaac.core-4.0.3] startup
2025-07-28 02:48:48 [2,740ms] [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.
2025-07-28 02:48:48 [2,740ms] [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.
2025-07-28 02:48:48 [2,743ms] [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.
2025-07-28 02:48:48 [2,743ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
[2.753s] [ext: omni.isaac.core_nodes-2.0.2] startup
2025-07-28 02:48:48 [2,748ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly.
[2.758s] [ext: omni.anim.curve.core-1.2.0] startup
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[2.906s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.5] startup
[2.909s] [ext: omni.isaac.assets_check-0.3.9] startup
2025-07-28 02:48:48 [2,901ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
[2.910s] [ext: isaacsim.robot.manipulators-3.0.4] startup
[2.916s] [ext: isaacsim.sensors.physics-0.3.5] startup
[2.921s] [ext: isaacsim.gui.menu-2.0.9] startup
[2.931s] [ext: omni.isaac.lula_test_widget-1.0.2] startup
2025-07-28 02:48:48 [2,924ms] [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.
[2.934s] [ext: omni.sensors.nv.common-2.5.0-coreapi] startup
[2.945s] [ext: omni.isaac.manipulators-3.0.3] startup
2025-07-28 02:48:48 [2,936ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-07-28 02:48:48 [2,936ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-07-28 02:48:48 [2,936ms] [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.
2025-07-28 02:48:48 [2,937ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-07-28 02:48:48 [2,937ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-07-28 02:48:48 [2,937ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-07-28 02:48:48 [2,937ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-07-28 02:48:48 [2,937ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-07-28 02:48:48 [2,937ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-07-28 02:48:48 [2,937ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
[2.946s] [ext: isaacsim.robot.policy.examples-4.0.3] startup
[2.948s] [ext: omni.isaac.menu-1.0.2] startup
2025-07-28 02:48:48 [2,940ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
[2.949s] [ext: omni.isaac.motion_generation-8.0.2] startup
2025-07-28 02:48:48 [2,941ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,942ms] [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.
2025-07-28 02:48:48 [2,943ms] [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.
2025-07-28 02:48:48 [2,943ms] [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.
2025-07-28 02:48:48 [2,943ms] [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.
[2.952s] [ext: omni.sensors.nv.materials-1.4.0-coreapi] startup
[2.955s] [ext: omni.isaac.nucleus-1.0.3] startup
2025-07-28 02:48:48 [2,947ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
2025-07-28 02:48:48 [2,947ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
[2.956s] [ext: omni.isaac.quadruped-3.0.2] startup
2025-07-28 02:48:48 [2,948ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
[2.957s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[2.958s] [ext: omni.sensors.nv.wpm-2.4.0-coreapi] startup
[2.960s] [ext: omni.sensors.nv.lidar-2.6.3-coreapi] startup
[2.964s] [ext: omni.sensors.nv.ids-1.4.0-coreapi] startup
[2.967s] [ext: isaacsim.robot.manipulators.examples-1.0.3] startup
[2.967s] [ext: isaacsim.util.debug_draw-2.0.2] startup
[2.970s] [ext: omni.sensors.tiled-0.0.6] startup
[2.972s] [ext: omni.sensors.nv.radar-2.6.1-coreapi] startup
[2.977s] [ext: omni.kit.widget.toolbar-1.7.3] startup
[2.980s] [ext: omni.kit.manipulator.transform-106.0.1] startup
[2.983s] [ext: isaacsim.sensors.physx-2.2.4] startup
[2.987s] [ext: isaacsim.sensors.rtx-13.6.3] startup
[2.992s] [ext: isaacsim.sensors.camera-0.2.9] startup
[2.997s] [ext: isaacsim.cortex.framework-1.0.2] startup
[2.999s] [ext: omni.kit.manipulator.tool.snap-1.5.12] startup
[3.009s] [ext: omni.isaac.range_sensor-4.0.2] startup
[3.011s] [ext: omni.isaac.surface_gripper-2.0.2] startup
2025-07-28 02:48:48 [3,003ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
[3.012s] [ext: omni.isaac.sensor-13.0.3] startup
2025-07-28 02:48:48 [3,004ms] [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.
2025-07-28 02:48:48 [3,004ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
2025-07-28 02:48:48 [3,004ms] [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.
2025-07-28 02:48:48 [3,004ms] [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.
2025-07-28 02:48:48 [3,004ms] [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.
2025-07-28 02:48:48 [3,004ms] [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.
2025-07-28 02:48:48 [3,004ms] [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.
2025-07-28 02:48:48 [3,004ms] [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.
2025-07-28 02:48:48 [3,005ms] [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.
2025-07-28 02:48:48 [3,005ms] [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.
2025-07-28 02:48:48 [3,005ms] [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.
[3.014s] [ext: omni.isaac.cortex-1.0.2] startup
2025-07-28 02:48:48 [3,006ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
[3.015s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[3.021s] [ext: omni.debugdraw-0.1.3] startup
[3.023s] [ext: omni.isaac.universal_robots-1.0.2] startup
2025-07-28 02:48:48 [3,015ms] [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.
2025-07-28 02:48:48 [3,015ms] [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.
2025-07-28 02:48:48 [3,015ms] [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.
[3.024s] [ext: omni.isaac.utils-2.0.2] startup
[3.026s] [ext: omni.kit.manipulator.prim.core-107.0.7] startup
[3.030s] [ext: omni.fabric.commands-1.1.5] startup
[3.032s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[3.033s] [ext: omni.kit.viewport.actions-107.0.0] startup
[3.036s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[3.037s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
[3.038s] [ext: isaacsim.cortex.behaviors-2.0.3] startup
[3.039s] [ext: omni.kit.widget.layers-1.8.2] startup
[3.046s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
[3.048s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[3.048s] [ext: omni.isaac.cortex.sample_behaviors-2.0.2] startup
2025-07-28 02:48:48 [3,040ms] [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.
[3.049s] [ext: omni.graph.ui_nodes-1.40.1] startup
[3.052s] [ext: omni.usdphysics.ui-106.5.7] startup
[3.073s] [ext: omni.physx.commands-106.5.7] startup
[3.075s] [ext: omni.kit.property.camera-1.0.9] startup
[3.077s] [ext: omni.hydra.scene_api-0.1.2] startup
[3.080s] [ext: omni.kit.property.geometry-1.3.3] startup
[3.083s] [ext: omni.kit.property.light-1.0.11] startup
[3.084s] [ext: omni.physx.ui-106.5.7] startup
[3.102s] [ext: omni.kit.property.material-1.10.17] startup
[3.106s] [ext: omni.kit.property.render-1.1.3] startup
[3.107s] [ext: omni.kit.property.transform-1.5.10] startup
[3.109s] [ext: omni.kit.property.audio-1.0.16] startup
[3.110s] [ext: isaacsim.gui.property-1.0.4] startup
[3.112s] [ext: omni.physx.demos-106.5.7] startup
[3.122s] [ext: omni.kit.property.physx-106.5.7] startup
[3.147s] [ext: omni.isaac.lula-4.0.2] startup
2025-07-28 02:48:48 [3,139ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
[3.148s] [ext: omni.kit.property.bundle-1.3.2] startup
[3.149s] [ext: omni.kit.property.isaac-1.0.2] startup
2025-07-28 02:48:48 [3,141ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
2025-07-28 02:48:48 [3,141ms] [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.
[3.150s] [ext: omni.physx.vehicle-106.5.7] startup
[3.162s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[3.165s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[3.167s] [ext: omni.kit.viewport.menubar.render-107.0.8] startup
[3.169s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[3.171s] [ext: omni.kit.window.console-0.2.14] startup
[3.177s] [ext: omni.physx.camera-106.5.7] startup
[3.184s] [ext: omni.kit.window.toolbar-1.6.2] startup
[3.187s] [ext: omni.isaac.version-2.0.2] startup
2025-07-28 02:48:48 [3,179ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
[3.188s] [ext: isaacsim.robot.wheeled_robots-4.0.3] startup
[3.191s] [ext: omni.physx.cct-106.5.7] startup
[3.201s] [ext: omni.physx.graph-106.5.7] startup
[3.220s] [ext: isaacsim.replicator.writers-1.0.1] startup
[3.241s] [ext: omni.physx.supportui-106.5.7] startup
[3.257s] [ext: omni.physx.telemetry-106.5.7] startup
[3.260s] [ext: omni.isaac.wheeled_robots-3.0.3] startup
2025-07-28 02:48:49 [3,253ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-07-28 02:48:49 [3,254ms] [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.
2025-07-28 02:48:49 [3,254ms] [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.
2025-07-28 02:48:49 [3,254ms] [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.
2025-07-28 02:48:49 [3,255ms] [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.
2025-07-28 02:48:49 [3,255ms] [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.
2025-07-28 02:48:49 [3,255ms] [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.
2025-07-28 02:48:49 [3,255ms] [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.
2025-07-28 02:48:49 [3,256ms] [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.
2025-07-28 02:48:49 [3,256ms] [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.
2025-07-28 02:48:49 [3,256ms] [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.
2025-07-28 02:48:49 [3,256ms] [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.
[3.265s] [ext: omni.isaac.franka-1.0.2] startup
2025-07-28 02:48:49 [3,258ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
2025-07-28 02:48:49 [3,259ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
2025-07-28 02:48:49 [3,259ms] [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.
[3.268s] [ext: isaacsim.replicator.domain_randomization-1.0.2] startup
[3.271s] [ext: isaacsim.replicator.examples-1.1.2] startup
[3.273s] [ext: omni.kit.window.status_bar-0.1.7] startup
[3.277s] [ext: omni.rtx.window.settings-0.6.17] startup
[3.281s] [ext: omni.usd.metrics.assembler-106.5.0] startup
[3.291s] [ext: omni.physx.bundle-106.5.7] startup
[3.291s] [ext: isaacsim.app.about-2.0.7] startup
[3.293s] [ext: omni.replicator.isaac-2.0.3] startup
2025-07-28 02:48:49 [3,285ms] [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.
[3.294s] [ext: omni.replicator.replicator_yaml-2.0.10] startup
[3.308s] [ext: omni.rtx.settings.core-0.6.3] startup
[3.312s] [ext: omni.usd.metrics.assembler.ui-106.5.0] startup
[3.317s] [ext: isaacsim.simulation_app-2.4.2] startup
[3.317s] [ext: omni.isaac.window.about-2.0.2] startup
2025-07-28 02:48:49 [3,309ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
2025-07-28 02:48:49 [3,309ms] [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.
[3.318s] [ext: semantics.schema.editor-0.3.10] startup
[3.320s] [ext: omni.kit.ui.actions-1.0.2] startup
[3.321s] [ext: semantics.schema.property-1.0.5] startup
[3.322s] [ext: omni.kit.manipulator.camera-106.0.3] startup
[3.324s] [ext: omni.isaac.kit-2.0.3] startup
2025-07-28 02:48:49 [3,316ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
[3.325s] [ext: omni.isaac.asset_browser-1.0.2] startup
2025-07-28 02:48:49 [3,316ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
[3.325s] [ext: isaacsim.core.throttling-2.0.2] startup
[3.326s] [ext: omni.kit.menu.common-1.1.9] startup
[3.327s] [ext: isaacsim.exp.base-4.5.0] startup
[3.328s] [ext: isaacsim.exp.base.python-4.5.0] startup
[3.329s] Simulation App Starting
[3.403s] app ready
2025-07-28 02:48:49 [3,469ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 7508933632
2025-07-28 02:48:49 [3,469ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
2025-07-28 02:48:49 [3,469ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 7433845248
2025-07-28 02:48:49 [3,469ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 9574251 (slope: 447, intercept: 13179904)
2025-07-28 02:48:49 [3,469ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4287216384
2025-07-28 02:48:49 [3,469ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
2025-07-28 02:48:49 [3,565ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults-transient/meshlights/forceDisable'
2025-07-28 02:48:49 [3,609ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/post/dlss/execMode'
[5.413s] Simulation App Startup Complete
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-28 02:48:51 [5,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2025-07-28 02:48:51 [5,423ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
2025-07-28 02:48:51 [5,423ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2025-07-28 02:48:51 [5,423ms] [Warning] [carb.audio.context] 1 contexts were leaked
2025-07-28 02:48:51 [5,530ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
there are so many warnings
Closing the loop on this one: the "[omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal" messages are a benign shutdown-ordering race in the Kit SDK’s omni.graph.core plugin in Isaac Sim 4.5.0 (plugin version 2.181.8). They do not affect simulation behavior, rendering, or any data outputs you generate.
Root cause: SimulationApp defaults to fast_shutdown=True, which tears down the OmniGraph category registry before individual node types are deregistered. When the 12 omni.replicator.core OGN annotator nodes try to clean themselves up, they log a warning because their category entry is already gone.
Status: This has been fixed in Isaac Sim 6.0.0; running the same minimal script there no longer produces any of these category-removal warnings.
Workaround for 4.5.0 (suppresses the warnings at the cost of roughly 1–2 seconds slower shutdown):
python
from isaacsim.simulation_app import SimulationApp
CONFIG = {
"width": 1920,
"height": 1080,
"headless": True,
"hide_ui": True,
"renderer": "RaytracedLighting",
}
simulation_app = SimulationApp(launch_config={**CONFIG, "fast_shutdown": False})
This will keep the shutdown sequence more orderly so the categories exist when the annotator nodes are removed, and those warnings should disappear.