Visualcube.set_world_pose() shows Used null prim

Hi. I set two cube-- one is rigid and other one is visual cube.

from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({"headless": False})
...
from omni.isaac.core.objects import DynamicCuboid, VisualCuboid
cube = my_world.scene.add(
    DynamicCuboid(
        # prim_path="/World/random_cube", # The prim path of the cube in the USD stage
        prim_path="/Cube", # The prim path of the cube in the USD stage
        name="Cube", # The unique name used to retrieve the object from the scene later on
        # position=np.array([0, 0, 1.0]), # Using the current stage units which is in meters by default.
        # scale=np.array([0.5015, 0.5015, 0.5015]), # most arguments accept mainly numpy arrays.
        # color=np.array([0, 0, 1.0]), # RGB channels, going from 0-1
    ))

target_cube = my_world.scene.add(
    VisualCuboid(
        # prim_path="/World/random_cube", # The prim path of the cube in the USD stage
        prim_path="/Cube_target", # The prim path of the cube in the USD stage
        name="TargetCube", # The unique name used to retrieve the object from the scene later on
        position=np.array([0, 0, 1.0]), # Using the current stage units which is in meters by default.
        scale=np.array([1, 1, 1]), # most arguments accept mainly numpy arrays.
        color=np.array([0, 0, 1.0]), # RGB channels, going from 0-1
    ))

...

cube.set_world_pose(position=np.array([1,1,1]),orientation=np.array([1,0,0,0])) # works
target_cube.set_world_pose(position=np.array([1,1,1]),orientation=np.array([1,0,0,0])) # [Fatal] [omni.usd] Used null prim

but when I try to change world pose of the VisualCube, It causes error. [Fatal] [omni.usd] Used null prim
How can I change pose of the visual cube?

here is RL example,

The line 118 shows also same error.

118 self.goal.set_world_pose(np.array([math.sin(alpha) * r, math.cos(alpha) * r, 0.05]))
[Fatal] [omni.usd] Used null prim```

Hi @PARKBONG

I did some tests (Isaac Sim 2022.2.0) and I cannot reproduce the error either in standalone mode or in the RL example.
Could you please test the following script:

from omni.isaac.kit import SimulationApp


config = {"headless": True,
          "renderer": "RayTracedLighting"}

# Any Omniverse level imports must occur after the class is instantiated. 
# APIs are provided by the extension/runtime plugin system, 
# it must be loaded before they will be available to import.
simulation_app = SimulationApp(config)

import numpy as np
from omni.isaac.core.objects import VisualCuboid
from omni.isaac.core.world import World

world = World()
visual_cuboid = world.scene.add(VisualCuboid(prim_path="/Cube_target",
                                             name="visual_cube",
                                             position=np.array([0, 0, 1.0]),
                                             scale=np.array([1, 1, 1]),
                                             color=np.array([0, 0, 1.0])))
world.step(render=False)
print("pose:", visual_cuboid.get_world_pose())

visual_cuboid.set_world_pose(position=np.array([1,1,1]), orientation=np.array([1,0,0,0]))
world.step(render=False)
print("pose:", visual_cuboid.get_world_pose())

simulation_app.close()  # cleanup application

It should print something like this:

[17.413s] Simulation App Startup Complete
pose: (array([0., 0., 1.], dtype=float32), array([1., 0., 0., 0.], dtype=float32))
pose: (array([1., 1., 1.], dtype=float32), array([1., 0., 0., 0.], dtype=float32))
[17.674s] Simulation App Shutting Down