# Isaac Sim 5.0.0 - Pose Estimation Data Generation

**URL:** <https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179>\
**Category:** Synthetic Data Generation (SDG)\
**Created:** [October 27, 2025, 2:41pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179 "2025-10-27T14:41:51Z")\
**Posts on this page:** 20\
**Page:** 1

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 27, 2025, 2:41pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/1 "2025-10-27T14:41:51Z")

</div>

Hi there,

I’m trying to generate pose estimation dataset. I have own scene and object in USD file. I uploaded usd file and added semantic but the camera doesn’t capture anything.

How should I solve this problem?

Thanks!

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 27, 2025, 2:42pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/2 "2025-10-27T14:42:43Z")

</div>

I’ve attached code below:

import omni.replicator.core as rep

from isaacsim.core.utils.stage import open\_stage

from isaacsim.core.utils.prims import get\_prim\_at\_path

from isaacsim.core.utils.semantics import add\_labels

import omni.usd

usd\_path = “/home/woojung/isaac/field/output/field\_scene\_fixed.usd”

open\_stage(usd\_path)

stage = omni.usd.get\_context().get\_stage()

with rep.new\_layer():

```
camera = rep.create.camera( focus_distance=400.0, focal_length=24.0, clipping_range=(0.1, 10000000.0), name="Cam")

render_product = rep.create.render_product(camera, (1024, 1024))    

target_path = "/World/Strawberries/Strawberry_01/Geometry/Twig_d3/Flower_stalk_1/Receptacle" 

strawberry = stage.GetPrimAtPath(target_path)

add_labels(strawberry, labels= \["strawberry"\], instance_name= "class")

rgb_writer = rep.WriterRegistry.get("BasicWriter")

rgb_writer.initialize(

```

output\_dir=“/home/woojung/debug/rgb”,

rgb=True

```
)

rgb_writer.attach(\[render_product\])

```

with rep.trigger.on\_frame(max\_execs=10):

with camera:

```
        rep.modify.pose(

```

position=rep.distribution.uniform((-500, 200, -500), (500, 500, 500)),

look\_at=strawberry

```
        )

```

rep.orchestrator.run()

---

<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 27, 2025, 3:37pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/3 "2025-10-27T15:37:57Z")

</div>

@w.son i am just another user, but can you confirm if this is only happening to your custom assets or including NVIDIA assets shipped with Isaac Sim? would you able to take a screenshot of what the USD stage looks like on the custom USD asset?

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 27, 2025, 3:43pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/4 "2025-10-27T15:43:28Z")

</div>

Hi @Simplychenable ,

I think it’s happening only for my case.

I’ve attached screenshots of what the stage, layer is and error logs

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/6/7/f/67f836ed75db5a114519cd3bbad105eafaf0052b.png)

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/4/b/0/4b099d3db380c428ad001b4243bfeca45c2027d6.png)

![image](https://global.discourse-cdn.com/nvidia/optimized/4X/0/b/3/0b3742dff54cbd21da52f49c6eaad10325e8efeb_2_690x43.png)

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 27, 2025, 4:01pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/5 "2025-10-27T16:01:11Z")

</div>

I tried to run the example code, but it still doesn’t include anything.

The code example is below:

import omni.replicator.core as rep

with rep.new\_layer():

```
camera = rep.create.camera(position=(0, 0, 1000))

render_product = rep.create.render_product(camera, (1024, 1024))

torus = rep.create.torus(semantics=\[('class', 'torus')\] , position=(0, -200 , 100))

sphere = rep.create.sphere(semantics=\[('class', 'sphere')\], position=(0, 100, 100))

cube = rep.create.cube(semantics=\[('class', 'cube')\], position=(100, -200 , 100) )

```

with rep.trigger.on\_frame(max\_execs=10):

with rep.create.group([torus, sphere, cube]):

```
        rep.modify.pose(

```

position=rep.distribution.uniform((-100, -100, -100), (200, 200, 200)),

scale=rep.distribution.uniform(0.1, 2))

# Initialize and attach writer

```
writer = rep.WriterRegistry.get("BasicWriter")

writer.initialize( output_dir="/home/woojung/debug", rgb=True, bounding_box_2d_tight=True)

writer.attach(\[render_product\])

rep.orchestrator.preview()

```

---

<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 27, 2025, 4:26pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/6 "2025-10-27T16:26:51Z")

</div>

i believe that’s the snippet from the tutorial found in the following page, correct?

> **[Core Functions - “Hello World” of Replicator — Omniverse Extensions](https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/basic_functionalities.html)**

if so, try using the modified snippet i have included in another post where i increased the size and added rotation to the camera that helped with the visibility of the objects:

> [@Failed run the example of Core Functions - “Hello World” of Replicator in Isaacsim5.0.0](https://forums.developer.nvidia.com/t/failed-run-the-example-of-core-functions-hello-world-of-replicator-in-isaacsim5-0-0/341270/2):
>
> @ZZJzhou could you try this snippet and see if it anything changes? import omni.replicator.core as rep with rep.new\_layer(): camera = rep.create.camera(position=(0, 0, 1000), rotation=(0,-90,0)) render\_product = rep.create.render\_product(camera, (1024, 1024)) torus = rep.create.torus(semantics=[('class', 'torus')] , position=(0, -200 , 100)) sphere = rep.create.sphere(semantics=[('class', 'sphere')], position=(0, 100, 100)) cube = rep.create.cube(semantics=[('class', '…

---

<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 27, 2025, 4:37pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/7 "2025-10-27T16:37:03Z")

</div>

if the scaling on the tutorial snippet worked for you, it’s likely not an issue with replicator itself. the console seems to only include warnings, which don’t always result in an error. i wonder whether the size of your custom asset or the distance of those assets from the camera could be contributing to the issue?

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 27, 2025, 5:19pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/8 "2025-10-27T17:19:27Z")

</div>

I tried the code that you provided. When the camera collect data, it includes objects and labels bounding box well. But the rgb images doesn’t include anything.

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/6/8/b/68bc90b37e65943b70f6ffcae3b0b457e11af907.png)

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/7/4/2/742476417dde864c34e28a424689ef5084dc1525.png)

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/4/d/a/4da84d296f37f41562ce22bb1437d841ba24a886.png)

---

<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 27, 2025, 6:44pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/9 "2025-10-27T18:44:13Z")

</div>

set your viewport to use `Default` lighting rig before generating the render products:

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/f/c/a/fca0c4abd0b2cc37d72ba90fe213b688c4a0c599.png)

otherwise, if you have an empty scene and are using `Stage Lights` lighting rig, you likely won’t be able to see anything since nothing will be lit and will appear completely black in your outputs

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 27, 2025, 7:41pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/10 "2025-10-27T19:41:49Z")

</div>

In my case, the images doesn’t appear black, images look like this.

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/f/7/d/f7d04b069935ba73d6e02b304d3af3f53ee25cce.png)

I added scene or light and changed dfault lighting, but it doesn’t still work.

Also, there’s no error logs in this case.

---

<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 27, 2025, 8:37pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/11 "2025-10-27T20:37:43Z")

</div>

that’s a new one. here’s a recap of what i did:

if you were to follow the steps exactly, do you still get blank outputs?

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 27, 2025, 9:18pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/12 "2025-10-27T21:18:07Z")

</div>

Thank you for your video. I did the same way you gave, but it still doesn’t include.

I don’t understand why my case doesn’t work.

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/2/2/1/22199c55bca1588374b85d5685bb986d3e2f6bf7.png)

I downloaded sdk kit and run the Issac Sim through ./isaac-sim.sh command. Is this problem?

---

<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 27, 2025, 9:42pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/13 "2025-10-27T21:42:01Z")

</div>

hmm, i don’t think that’s an issue. have you tried this in other versions of Isaac Sim in the past where it worked? 4.5 or 5.1?

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 28, 2025, 1:21pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/14 "2025-10-28T13:21:28Z")

</div>

I tried it on Isaac Sim 4.5.0. Finally, it worked.

Thank you so much, I really appreciate it!

---

<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 28, 2025, 3:18pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/15 "2025-10-28T15:18:35Z")

</div>

@w.son i wonder what it could be thats causing the issue on your end. just know that 4.5 is going to be EOL in a few release cycles, so if it’s a bug in 5.0, would be great if the dev can chime in here. or give 5.1 a shot since it’s more current.

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 28, 2025, 4:00pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/16 "2025-10-28T16:00:18Z")

</div>

@Simplychenable

I tried it on Isaac Sim 5.0.1 this time, It also happened problem. hmm..

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<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 28, 2025, 4:02pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/17 "2025-10-28T16:02:14Z")

</div>

what’s your GPU and driver version, by the way?

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<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 28, 2025, 4:06pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/18 "2025-10-28T16:06:10Z")

</div>

I have two GPUs, RTX 3090 and RTX 4090. And the driver version is 545.29.06

---

<div class="post-metadata">

**Author:** ![Simplychenable](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/simplychenable/32/271930_2.png) [@Simplychenable](https://forums.developer.nvidia.com/u/Simplychenable)\
**Post date:** [October 28, 2025, 4:19pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/19 "2025-10-28T16:19:40Z")

</div>

another thing to consider is getting the specific driver version suggested by the mods in another thread (linked below) and see if the issue persists in 5.0:

> [@Isaac Sim detects wrong driver version on Ubuntu 24.04 with RTX 4060 Laptop](https://forums.developer.nvidia.com/t/isaac-sim-detects-wrong-driver-version-on-ubuntu-24-04-with-rtx-4060-laptop/348110/7):
>
> You could try installing the [570.169](https://www.nvidia.com/en-us/drivers/details/247720/) driver version, which is one of the recommended Production Branch drivers listed in the [Technical Requirements — Omniverse Developer Guide](https://docs.omniverse.nvidia.com/dev-guide/latest/common/technical-requirements.html#ada-ampere-turing). This version has been verified for Ampere-based GPUs like the RTX 3090 and is generally more stable for RTX rendering and simulation in Isaac Sim compared to older 535.xx drivers. After installing, reboot the system and check with nvidia-smi to confirm the new version before relaunching Isaac Sim.

---

<div class="post-metadata">

**Author:** ![w.son](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@w.son](https://forums.developer.nvidia.com/u/w.son)\
**Post date:** [October 29, 2025, 4:21pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-pose-estimation-data-generation/349179/20 "2025-10-29T16:21:42Z")

</div>

Hi,

I reinstalled NVDIA driver to 570.169. And the issue has been solved on Isaac Sim 5.0.1.

Thank you so much!

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