Unable to show the existing ActionGraph

[shentunghuang1]

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

• Model: RTX 4080
• Driver Version: 570.124.06

I ran start_isaac_sim_franka.py from the Isaac Manipulator example using the command:
./python.sh ${ISAAC_ROS_WS}/src/isaac_ros_cumotion/isaac_ros_cumotion_examples/isaac_sim_scripts/start_isaac_sim_franka.py
However, the Action Graph is not functional. How can I make the existing Action Graph appear?

Steps to Reproduce

1. cd ~/isaacsim
2. ./python.sh ${ISAAC_ROS_WS}/src/isaac_ros_cumotion/isaac_ros_cumotion_examples/isaac_sim_scripts/start_isaac_sim_franka.py

Screenshots or Videos

[zhengwang]

Hi @shentunghuang1! Are you following this tutorial Tutorial for cuMotion MoveIt Plugin with Isaac Sim — isaac_ros_docs documentation to run this example?

Have you tried with Isaac Sim 4.2.0?

This tutorial has been tested with Isaac Sim 4.2.0

[shentunghuang1]

I understand that this example is from version 4.2, but I encountered the error “Prim is not an articulation” when using ROS2 Publish Joint States. I’ve created a post to ask for a solution:

Prim is not an articulation in ROS2 Publish Joint States

Isaac Sim Version 4.2.0 Operating System Ubuntu 22.04 GPU Information Model: RTX 4080 Driver Version: 570.124.06 I tried modifying start_isaac_sim_franka.py to load my own robot and implement the Isaac Manipulator example. However, my ROS2 Publish Joint States cannot recognize the robot and returning the error: [Error] [omni.graph.core.plugin] /ActionGraph/PublishJointState: [/ActionGraph] Prim is not an articulation. Using the Filter, I can see the articulation, joints, and drivers as t…

In the post you recommended, it was mentioned that this issue has been fixed in version 4.5.2:

Error when using ROS2PublishJointState: Prim is not an articulation

Isaac Sim Version 4.2.0 Operating System Ubuntu 22.04 GPU Information Model: GeForce RTX 2070 Driver Version: 550.127.08 Topic Description Detailed Description I use this Omni Action Graph: nodes: - ["OnPlaybackTick", "omni.graph.action.OnPlaybackTick"] - ["Context", "omni.isaac.ros2_bridge.ROS2Context"] - ["SubscribeJointState", "omni.isaac.ros2_bridge.ROS2SubscribeJointState"] - ["ArticulationController", "omni.isaac.core_nodes.IsaacArticulationController"] - ["ReadSimTime", "…

However, I can only find the installer for version 4.5.0, not 4.5.2:

Download Isaac Sim — Isaac Sim Documentation

That’s why I’m asking how to resolve this issue in 4.5.0, or if you could provide access to the 4.5.2 installer so I can test it.

[Simplychenable]

@shentunghuang1 i am just another user and haven’t seen any official 4.5.2 update either, so curious to see what the other user meant. 🤔

in the meantime, i wonder if it’s worth trying the Isaac Sim Full kit to get the actiongraphs working or incorporate the corresponding actiongraph extensions?

Isaac Sim 4.5 Issues List

Hi. I believe this difference is expected and is not related to a container. The python.sh uses the isaacsim.exp.base.python.kit while the Selector runs the full Isaac Sim kit file which is isaacsim.exp.full.kit. The actiongraph extension is only loaded in the Full kit file. You can try add any additional extensions that you need in the .kit file or use command line flags to enable extensions.

[zhengwang]

There is no Isaac Sim 4.5.2. I think that user had a typo.

I tried the example following the tutorial Tutorial for cuMotion MoveIt Plugin with Isaac Sim — isaac_ros_docs documentation with Isaac Sim 4.2.0 and it works fine. Did you make any modifications in the script start_isaac_sim_franka.py? If so, could you please share your changes? What are the commands you used?

I also tried the example with Isaac Sim 4.5.0 and it would fail with the following error:

2025-04-09 21:25:07 [8,674ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
2025-04-09 21:25:07 [8,674ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/home/zhengwang/workspaces/isaac_ros-dev//src/isaac_ros_cumotion/isaac_ros_cumotion_examples/isaac_sim_scripts/start_isaac_sim_franka.py", line 314, in <module>
2025-04-09 21:25:07 [8,675ms] [Error] [omni.kit.app._impl] [py stderr]:     rs_viewport.dock_in(viewport, omni.ui.DockPosition.RIGHT)
2025-04-09 21:25:07 [8,675ms] [Error] [omni.kit.app._impl] [py stderr]: AttributeError: 'NoneType' object has no attribute 'dock_in'

Currently our internal team is fixing curobot to make it compatible with Isaac Sim 4.5.0.

[shentunghuang1]

I directly used the official start_isaac_sim_franka.py script.
After installing Isaac Sim 4.5.0, I ran the following command in the terminal:

cd ~/isaacsim
./python.sh ${ISAAC_ROS_WS}/src/isaac_ros_cumotion/isaac_ros_cumotion_examples/isaac_sim_scripts/start_isaac_sim_franka.py

However, the project couldn’t be launched due to the error you mentioned.
I managed to open the project in Isaac Sim 4.5.0 by commenting out the following three lines:

# viewport = omni.ui.Workspace.get_window("Viewport")
# rs_viewport = omni.ui.Workspace.get_window(REALSENSE_VIEWPORT_NAME)
# rs_viewport.dock_in(viewport, omni.ui.DockPosition.RIGHT)

These lines don’t seem to be related to the ActionGraph setup, but the ActionGraph still fails to activate, as shown in the screenshot I included in my original question.

[shentunghuang1]

@Simplychenable

incorporate the corresponding actiongraph extensions

Thanks for the suggestion! I’m not too familiar with how to incorporate the corresponding ActionGraph extensions, so I’ll try using the Isaac Sim Full kit to see if that gets the ActionGraphs working properly.

[zhengwang]

Hi @shentunghuang1 just to follow up for this topic. Do you need more help?

[shentunghuang1]

Thank you for your support. I don’t have any questions for now, but I’ll reach out again if anything comes up.