Isaac Sim 2023.1.0 Release Announcement

Omniverse Isaac Sim
1

Dear Users,

Finally the wait is over. Isaac Sim 2023.1.0 release is out and available to you all…!!!Thank you for being very patient while we were working on getting this release out.

If you have any feedback specific to Isaac Sim 2023.1.0 then only please add them under this thread, for any general questions, create a new post or else this thread will be too long :)

If you have a general feedback then please share it in this thread: FEEDBACK Request from Isaac Sim Users

I hope you find this release helpful in your work :)

P.S.: I am locking this thread. For any questions, post it on a new thread.

Thanks,
Isaac Sim Team

8 Likes
2
3

Hi rthaker,

thanks for the hard work!

I’m having some hiccups after updating to 2023.1.0. Some examples are very slow to launch and kind of buggy.

Now throw some more warnings like:

[…]

2023-10-18 20:36:34 [14,436ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!

2023-10-18 20:36:46 [25,928ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:

and
[…]

[Lula] Joint 'left_inner_finger_joint' is specified as a mimic joint, but its control chain ['left_inner_finger_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
[Lula] Joint 'left_inner_knuckle_joint' is specified as a mimic joint, but its control chain ['left_inner_knuckle_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
[Lula] Joint 'right_inner_finger_joint' is specified as a mimic joint, but its control chain ['right_inner_finger_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
[Lula] Joint 'right_inner_knuckle_joint' is specified as a mimic joint, but its control chain ['right_inner_knuckle_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.
[Lula] Joint 'right_outer_knuckle_joint' is specified as a mimic joint, but its control chain ['right_outer_knuckle_joint' -> 'finger_joint'] terminates with a joint ['finger_joint'] that is not a c-space coordinate. Mimic attributes will be ignored.

and

Throws this error, after stopping the simulation and starting again:

2023-10-18 20:40:19 [238,845ms] [Error] [omni.isaac.motion_generation.articulation_motion_policy] Attempted to compute an action, but the robot Articulation has not been initialized. Cannot get joint positions or velocities.

Exception has occurred: AttributeError
'NoneType' object has no attribute 'astype'
  File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 510, in _evaluate_acceleration
    joint_positions = joint_positions.astype(np.float64)
  File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 503, in _euler_integration
    joint_accel = self._evaluate_acceleration(joint_positions, joint_velocities)
  File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 489, in _update_robot_joint_states
    self._robot_joint_positions, self._robot_joint_velocities = self._euler_integration(
  File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/motion_policies.py", line 148, in compute_joint_targets
    self._update_robot_joint_states(active_joint_positions, active_joint_velocities, frame_duration)
  File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/articulation_motion_policy.py", line 102, in get_next_articulation_action
    position_targets, velocity_targets = self.motion_policy.compute_joint_targets(
  File "/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/standalone_examples/api/omni.isaac.manipulators/rmpflow_supported_robots/supported_robot_follow_target_example.py", line 122, in <module>
    actions = articulation_rmpflow.get_next_articulation_action()
AttributeError: 'NoneType' object has no attribute 'astype'

Is there any new documentation I should refer to?

I’m in Kubuntu 22.04, RTX 3080 Laptop 16GB VRAM.

Thanks!

4

@edsonbffilho - This is not a bug or something, pls create a new post for this question.

5

  • Do we have anything new related to using camera / Image sensors in Isaac Gym? Memory improvements or tiled rendering? I couldn’t find any mention of that in the release notes.

  • Are we still required to use driver 525 instead of 535 on Ubuntu? Many modern laptop GPUs (eg 4090) only support 535.

1 Like
6

ISSUE:
Cannot publish image to ROS
[Error] [omni.isaac.core_nodes] CUDA error 801: cudaErrorNotSupported - operation not supported)

OS: Ubuntu 20.04
GPU: RTX2080Ti
Driver Version: 525.125.06 CUDA Version: 12.0

Example code:
ISAACSIM ROS Navigation Example

7

@zhengzj have you tried updating your driver? @Sheikh_Dawood has mentioned 525.85 is now the recommended version for 2023.1.0

can also be found on the doc - Technical Requirements — Omniverse IsaacSim latest documentation

if you have further questions, i am sure the mods are more than happy to address them in a separate thread.

8

The driver version of 525.125.06 is newer than the recommended one, and it works well with the 2022.2.1 version.

I have two GPUs in a machine. I doubt that the error may be related to the ROS1CameraHelperNode when it selects the wrong GPU for image output.

Anyway, thanks for your reply.

9

How do I source the ROS2 installation everytime before starting Isaac sim if I use the “Isaac Sim App Selector 23.1.0”?
I have to already put “export FASTRTPS_DEFAULT_PROFILES_FILE=~/.ros/fastdds.xml” in the extra args, but it does not switch on the ROS2 bridge. I am also unable to toggle manually once I start Isaac Sim.

10
11