# \#isaac-sim-v4-1-0 **URL:** https://forums.developer.nvidia.com/tag/isaac-sim-v4-1-0/1063.md [Latest](https://forums.developer.nvidia.com/latest.md) · [Categories](https://forums.developer.nvidia.com/categories.md) · [Tags](https://forums.developer.nvidia.com/tags.md) --- ## [BeyondMimic/ProtoMotions G1 tracker transfers to MuJoCo, but a PhysX-trained AMP "run" actor layered on top does not – has anyone solved hierarchical](https://forums.developer.nvidia.com/t/beyondmimic-protomotions-g1-tracker-transfers-to-mujoco-but-a-physx-trained-amp-run-actor-layered-on-top-does-not-has-anyone-solved-hierarchical/382929)
**Author:** [@karvachiik](https://forums.developer.nvidia.com/u/karvachiik)\ **Replies:** 1\ **Last updated:** [September 10, 2026, 9:52pm UTC](https://forums.developer.nvidia.com/t/beyondmimic-protomotions-g1-tracker-transfers-to-mujoco-but-a-physx-trained-amp-run-actor-layered-on-top-does-not-has-anyone-solved-hierarchical/382929 "2026-09-10T21:52:36Z")
Important: Isaac Sim support Note: For Isaac Sim support, the community is gradually transitioning from this forum to the Isaac Sim GitHub repository so that questions and issues can be tracked, searched, and resolved m… --- ## [Skeljoint: Adding variants to bones causes an unstoppable loop of errors](https://forums.developer.nvidia.com/t/skeljoint-adding-variants-to-bones-causes-an-unstoppable-loop-of-errors/324157)
**Author:** [@ThatHiden](https://forums.developer.nvidia.com/u/ThatHiden)\ **Replies:** 9\ **Last updated:** [August 4, 2026, 5:41pm UTC](https://forums.developer.nvidia.com/t/skeljoint-adding-variants-to-bones-causes-an-unstoppable-loop-of-errors/324157 "2026-08-04T17:41:19Z")
Recently we’re working on bendable volumes for 3d object scattering. For initial tests I to use a basic subdivided cube with rigged bones. The goal was: create a volume mesh which would be bendable/deformable with ske… --- ## [Isaac Simulator omni.anim.people speed](https://forums.developer.nvidia.com/t/isaac-simulator-omni-anim-people-speed/264058)
**Author:** [@phr0201](https://forums.developer.nvidia.com/u/phr0201)\ **Replies:** 9\ **Last updated:** [July 20, 2026, 6:02pm UTC](https://forums.developer.nvidia.com/t/isaac-simulator-omni-anim-people-speed/264058 "2026-07-20T18:02:16Z")
I want to decrease the walk speed using omni.anim.people. But when i handle the line 106 of the base\_command.py code, the speed become lower than before but the human’s walking stride become too small… So when i record … --- ## [WebRTC connected but did'n show anything when I use Isaac Sim](https://forums.developer.nvidia.com/t/webrtc-connected-but-didn-show-anything-when-i-use-isaac-sim/305818)
**Author:** [@chenyixuan03114](https://forums.developer.nvidia.com/u/chenyixuan03114)\ **Replies:** 2\ **Last updated:** [July 19, 2026, 12:44pm UTC](https://forums.developer.nvidia.com/t/webrtc-connected-but-didn-show-anything-when-i-use-isaac-sim/305818 "2026-07-19T12:44:46Z")
Hi, I’m deploying an Isaac Sim Container on my remote server and trying to stream to my local laptop. I’ve tried both WebRTC and Omniverse Streaming Client, but neither has worked. Here are the details: My remote server… --- ## [Lidar fails in omni.isaac.sim.python.gym.headless.render.kit mode](https://forums.developer.nvidia.com/t/lidar-fails-in-omni-isaac-sim-python-gym-headless-render-kit-mode/248535)
**Author:** [@daniel.honerkamp](https://forums.developer.nvidia.com/u/daniel.honerkamp)\ **Replies:** 5\ **Last updated:** [June 4, 2026, 10:26pm UTC](https://forums.developer.nvidia.com/t/lidar-fails-in-omni-isaac-sim-python-gym-headless-render-kit-mode/248535 "2026-06-04T22:26:47Z")
Hi, I’m trying to use the lidar together with cameras. To speed things up I’d like to use the headless mode, for which I"m following OmniIsaacGym and set the experience as follows: experience = "" if he… --- ## [\[4.1.0, 4.0.0, 2023.1.1\] anim.people agent can't go up stairs even though a navmesh path exists](https://forums.developer.nvidia.com/t/4-1-0-4-0-0-2023-1-1-anim-people-agent-cant-go-up-stairs-even-though-a-navmesh-path-exists/302945)
**Author:** [@icoderaven](https://forums.developer.nvidia.com/u/icoderaven)\ **Replies:** 2\ **Last updated:** [May 14, 2026, 9:30pm UTC](https://forums.developer.nvidia.com/t/4-1-0-4-0-0-2023-1-1-anim-people-agent-cant-go-up-stairs-even-though-a-navmesh-path-exists/302945 "2026-05-14T21:30:23Z")
Hi! I have had satisfactory results providing GoTo commands to an omni.anim character and getting it to move around on a planar navmesh. I wanted to start trying to navigate across floors in my environmental assets, and … --- ## [Understanding the Difference Between "Drag" and "Damping" in PBD Material Parameters](https://forums.developer.nvidia.com/t/understanding-the-difference-between-drag-and-damping-in-pbd-material-parameters/311117)
**Author:** [@gabriel.leitner](https://forums.developer.nvidia.com/u/gabriel.leitner)\ **Replies:** 3\ **Last updated:** [May 6, 2026, 3:41am UTC](https://forums.developer.nvidia.com/t/understanding-the-difference-between-drag-and-damping-in-pbd-material-parameters/311117 "2026-05-06T03:41:35Z")
Hi everyone, I’ve been working with PhysX PBD materials in IsaacSim and came across two parameters: Drag and Damping. While I understand that both of these relate to forces that resist movement, I’m a bit confused about… --- ## [Isaac-sim.sh --reset-user "Failed to acquire IWindowing interface" but cannot be run --headless](https://forums.developer.nvidia.com/t/isaac-sim-sh-reset-user-failed-to-acquire-iwindowing-interface-but-cannot-be-run-headless/305668)
**Author:** [@Aemperior123](https://forums.developer.nvidia.com/u/Aemperior123)\ **Replies:** 2\ **Last updated:** [April 19, 2026, 11:03pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-sh-reset-user-failed-to-acquire-iwindowing-interface-but-cannot-be-run-headless/305668 "2026-04-19T23:03:21Z")
I have just updated isaac-sim from 4.0.0 to 4.1.0 and according to this IsaacLab installation guide I should run isaac-sim.sh --reset-user If I’ve had a different version of isaac-sim previously. However, since I am u… --- ## [Issues with Collision Using the Franka Model (franka\_alt\_fingers.usd) in Isaac Sim 4.1](https://forums.developer.nvidia.com/t/issues-with-collision-using-the-franka-model-franka-alt-fingers-usd-in-isaac-sim-4-1/302506)
**Author:** [@767940178](https://forums.developer.nvidia.com/u/767940178)\ **Replies:** 4\ **Last updated:** [April 19, 2026, 1:57am UTC](https://forums.developer.nvidia.com/t/issues-with-collision-using-the-franka-model-franka-alt-fingers-usd-in-isaac-sim-4-1/302506 "2026-04-19T01:57:29Z")
Hello everyone, I’ve been working with Isaac Sim 4.1 and specifically using the built-in asset: “franka\_alt\_fingers.usd”. While attempting to drive the robotic arm to grasp objects, I have encountered a recurring issue … --- ## [Degradation of rendering capabilities of Isaac-sim on 4.2.0 and 4.1.0](https://forums.developer.nvidia.com/t/degradation-of-rendering-capabilities-of-isaac-sim-on-4-2-0-and-4-1-0/307390)
**Author:** [@asek.s](https://forums.developer.nvidia.com/u/asek.s)\ **Replies:** 8\ **Last updated:** [April 19, 2026, 1:55am UTC](https://forums.developer.nvidia.com/t/degradation-of-rendering-capabilities-of-isaac-sim-on-4-2-0-and-4-1-0/307390 "2026-04-19T01:55:53Z")
Dear NVIDIA team, With every next release after 2023.1.0-hotfix.1 the rendering capabilities using the rep.orchestrator degrade. On version 2023.1.0-hotfix.1 we could render scene on resolution of 5000x4000 with 12Gb G… --- ## [Real-Time Factor Significantly Slower When Running Isaac Sim as Standalone Python Script](https://forums.developer.nvidia.com/t/real-time-factor-significantly-slower-when-running-isaac-sim-as-standalone-python-script/305913)
**Author:** [@lukas-bergs](https://forums.developer.nvidia.com/u/lukas-bergs)\ **Replies:** 6\ **Last updated:** [April 17, 2026, 8:01am UTC](https://forums.developer.nvidia.com/t/real-time-factor-significantly-slower-when-running-isaac-sim-as-standalone-python-script/305913 "2026-04-17T08:01:26Z")
Hello everyone, I’ve been experiencing a significant slowdown in the real-time factor when running my Isaac Sim simulation as a standalone Python script compared to running it directly through the Isaac Sim GUI. Specifi… --- ## [How to increase the exclusive lock of carb.datastore.plugin？](https://forums.developer.nvidia.com/t/how-to-increase-the-exclusive-lock-of-carb-datastore-plugin/325436)
**Author:** [@yioutpi](https://forums.developer.nvidia.com/u/yioutpi)\ **Replies:** 9\ **Last updated:** [April 5, 2026, 3:01pm UTC](https://forums.developer.nvidia.com/t/how-to-increase-the-exclusive-lock-of-carb-datastore-plugin/325436 "2026-04-05T15:01:02Z")
Isaac Sim Version 4.5.0 4.2.0 \[✅\] 4.1.0 4.0.0 4.5.0 2023.1.1 2023.1.0-hotfix.1 Other (please specify): Operating System \[✅\] Ubuntu 22.04 Ubuntu 20.04 Windows 11 Windows 10 Other (please specify): G… --- ## [LiDAR in Isaac Sim 4.2 hurt my eyes](https://forums.developer.nvidia.com/t/lidar-in-isaac-sim-4-2-hurt-my-eyes/308944)
**Author:** [@hslktestmail](https://forums.developer.nvidia.com/u/hslktestmail)\ **Replies:** 8\ **Last updated:** [October 15, 2025, 3:17am UTC](https://forums.developer.nvidia.com/t/lidar-in-isaac-sim-4-2-hurt-my-eyes/308944 "2025-10-15T03:17:47Z")
Hello, I am trying running Lidar ROS standalone example. with Isaac Sim 4.1, the simulation is fine with Isaac Sim 4.2, it likes watching a video with flicker effect with my large scene and hence low FPS (\<20 FPS), … --- ## [ISAAC Sim 4.2.0 Basis Curve Disappearing BUG!](https://forums.developer.nvidia.com/t/isaac-sim-4-2-0-basis-curve-disappearing-bug/311175)
**Author:** [@leo199483](https://forums.developer.nvidia.com/u/leo199483)\ **Replies:** 3\ **Last updated:** [September 30, 2025, 6:21pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-4-2-0-basis-curve-disappearing-bug/311175 "2025-09-30T18:21:08Z")
I am trying to create a curve within the ISAAC Sim but cannot see the curve at all. Here’s the information and screenshot. I believe it is a bug. Isaac Sim Version 4.2.0 4.1.0 4.0.0 not yet tested 2023.1.1 202… --- ## [Running Isaac Sim without Omniverse Editor – Headless build and Python execution support?](https://forums.developer.nvidia.com/t/running-isaac-sim-without-omniverse-editor-headless-build-and-python-execution-support/344540)
**Author:** [@dhhan.mnd](https://forums.developer.nvidia.com/u/dhhan.mnd)\ **Replies:** 3\ **Last updated:** [September 16, 2025, 1:23am UTC](https://forums.developer.nvidia.com/t/running-isaac-sim-without-omniverse-editor-headless-build-and-python-execution-support/344540 "2025-09-16T01:23:12Z")
Note: For any Isaac Lab topics, please submit your topic to its GitHub repo ( GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim ) following the instructions provided on Isaac Lab… --- ## [Curobo attach object with isaac sim](https://forums.developer.nvidia.com/t/curobo-attach-object-with-isaac-sim/321615)
**Author:** [@theo.bloesch](https://forums.developer.nvidia.com/u/theo.bloesch)\ **Replies:** 6\ **Last updated:** [June 28, 2025, 1:35am UTC](https://forums.developer.nvidia.com/t/curobo-attach-object-with-isaac-sim/321615 "2025-06-28T01:35:13Z")
Isaac Sim Version 4.1.0 Operating System Ubuntu 22.04 Topic Description How to properly use Curobo with Isaac Sim to generate a collision-free trajectory with an attached object Detailed Description I am trying to p… --- ## [Custom robot not acheiving smooth movements](https://forums.developer.nvidia.com/t/custom-robot-not-acheiving-smooth-movements/314090)
**Author:** [@theo.bloesch](https://forums.developer.nvidia.com/u/theo.bloesch)\ **Replies:** 13\ **Last updated:** [June 28, 2025, 1:34am UTC](https://forums.developer.nvidia.com/t/custom-robot-not-acheiving-smooth-movements/314090 "2025-06-28T01:34:18Z")
I have a problem with isaac sim and curobo. I followed the tutorial from the Nvidia Curobo website: Configuring a New Robot - cuRobo, to configure a new robot. However, when I launch the example omni\_python curobo/exampl… --- ## [Omni.Anim.People avatars start dance and dont move](https://forums.developer.nvidia.com/t/omni-anim-people-avatars-start-dance-and-dont-move/310846)
**Author:** [@mykhailo.shushman](https://forums.developer.nvidia.com/u/mykhailo.shushman)\ **Replies:** 4\ **Last updated:** [May 19, 2025, 5:56pm UTC](https://forums.developer.nvidia.com/t/omni-anim-people-avatars-start-dance-and-dont-move/310846 "2025-05-19T17:56:46Z")
Isaac Sim Version 4.1.0 Operating System Windows 10 Hi there I using omni.anim.people in my projects and my peoples sometimes stucks and start dance and dont move next. I increase avatars size x100 for beter show on… --- ## [Conveyor Belt Utility Extension](https://forums.developer.nvidia.com/t/conveyor-belt-utility-extension/325667)
**Author:** [@yangxuan99999](https://forums.developer.nvidia.com/u/yangxuan99999)\ **Replies:** 2\ **Last updated:** [April 17, 2025, 11:13pm UTC](https://forums.developer.nvidia.com/t/conveyor-belt-utility-extension/325667 "2025-04-17T23:13:32Z")
Hello, I am using the conveyor belt extension “Conveyor Belt Utility” in Isaac SIM 4.1.0 to simulate a digital twin. I would like to know if I can directly call the extension’s API and set the API value through a Pytho… --- ## [Launch the Isacc Sim and load usd file which contain action graph by standalone python script, but can't receive the camera relevant topic](https://forums.developer.nvidia.com/t/launch-the-isacc-sim-and-load-usd-file-which-contain-action-graph-by-standalone-python-script-but-cant-receive-the-camera-relevant-topic/308055)
**Author:** [@1131039267](https://forums.developer.nvidia.com/u/1131039267)\ **Replies:** 2\ **Last updated:** [April 16, 2025, 9:11pm UTC](https://forums.developer.nvidia.com/t/launch-the-isacc-sim-and-load-usd-file-which-contain-action-graph-by-standalone-python-script-but-cant-receive-the-camera-relevant-topic/308055 "2025-04-16T21:11:54Z")
My system setup: ubuntu22.04 ros2 humble Isaac Sim workstation installation, 4.1.0 In the beginning, I have edited the stage which contain the robots, multiple realsense D455 cameras, and action graph with ros2 bridg… --- ## [Isaac Sim increases usage of memory whenever Camera objects are moved](https://forums.developer.nvidia.com/t/isaac-sim-increases-usage-of-memory-whenever-camera-objects-are-moved/322181)
**Author:** [@albowler](https://forums.developer.nvidia.com/u/albowler)\ **Replies:** 4\ **Last updated:** [April 16, 2025, 9:03pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-increases-usage-of-memory-whenever-camera-objects-are-moved/322181 "2025-04-16T21:03:59Z")
Note: For any Isaac Lab topics, please submit your topic to its GitHub repo (GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim) following the instructions provided on Isaac Lab’s… --- ## [OpenH264 Error during Native Streaming Connection](https://forums.developer.nvidia.com/t/openh264-error-during-native-streaming-connection/330303)
**Author:** [@gonglitian2002](https://forums.developer.nvidia.com/u/gonglitian2002)\ **Replies:** 1\ **Last updated:** [April 15, 2025, 2:35am UTC](https://forums.developer.nvidia.com/t/openh264-error-during-native-streaming-connection/330303 "2025-04-15T02:35:00Z")
Isaac Sim Version 4.5.0 4.2.0 4.1.0 4.0.0 4.5.0 2023.1.1 2023.1.0-hotfix.1 Other (please specify): Operating System Ubuntu 22.04 Ubuntu 20.04 Windows 11 Windows 10 Other (please specify): GPU In… --- ## [Looping omni.anim.people commands](https://forums.developer.nvidia.com/t/looping-omni-anim-people-commands/325389)
**Author:** [@juho.a](https://forums.developer.nvidia.com/u/juho.a)\ **Replies:** 4\ **Last updated:** [April 14, 2025, 6:47am UTC](https://forums.developer.nvidia.com/t/looping-omni-anim-people-commands/325389 "2025-04-14T06:47:45Z")
Isaac Sim Version 4.5.0 4.2.0 4.1.0 4.0.0 4.5.0 2023.1.1 2023.1.0-hotfix.1 Other (please specify): Operating System Ubuntu 22.04 Ubuntu 20.04 Windows 11 Windows 10 Other (please specify): GPU In… --- ## [PBD deformable cloth manipulation](https://forums.developer.nvidia.com/t/pbd-deformable-cloth-manipulation/326384)
**Author:** [@isabella.herrarte](https://forums.developer.nvidia.com/u/isabella.herrarte)\ **Replies:** 3\ **Last updated:** [April 3, 2025, 12:03am UTC](https://forums.developer.nvidia.com/t/pbd-deformable-cloth-manipulation/326384 "2025-04-03T00:03:33Z")
Hi, I’m currently working on a simulation in Isaac Sim 4.1.0 in Windows Server 2022 where a Franka Emika robot needs to perform a pick-and-place task with a piece of fabric (plane). However, the robot is unable to grasp… --- ## [How to set a rigid body to slide downwards on another tilted rigid body in Isaac SIM？](https://forums.developer.nvidia.com/t/how-to-set-a-rigid-body-to-slide-downwards-on-another-tilted-rigid-body-in-isaac-sim/310123)
**Author:** [@281263251](https://forums.developer.nvidia.com/u/281263251)\ **Replies:** 2\ **Last updated:** [March 13, 2025, 12:05am UTC](https://forums.developer.nvidia.com/t/how-to-set-a-rigid-body-to-slide-downwards-on-another-tilted-rigid-body-in-isaac-sim/310123 "2025-03-13T00:05:19Z")
I have added material properties to two objects, including dynamic friction and static friction. Even if the friction force is set to 0, one object cannot slide on another tilted object。 --- ## [OmniGraph Bundle Functionality: No Output & Missing Ports in Properties Panel?](https://forums.developer.nvidia.com/t/omnigraph-bundle-functionality-no-output-missing-ports-in-properties-panel/325710)
**Author:** [@AISL\_hyeonsu](https://forums.developer.nvidia.com/u/AISL_hyeonsu)\ **Replies:** 3\ **Last updated:** [March 12, 2025, 5:42am UTC](https://forums.developer.nvidia.com/t/omnigraph-bundle-functionality-no-output-missing-ports-in-properties-panel/325710 "2025-03-12T05:42:29Z")
Isaac Sim Version ☑ 4.5.0 ☑ 4.2.0 ☑ 4.1.0 Operating System ☑ Ubuntu 22.04 GPU Information Model: RTX 3060, 4090 Driver Version: 535.183.01 Topic Description Detailed Description I have been trying to use the bundle… --- ## [Inconsistent Trajectory Following in Isaac Sim with MoveIt Using topic\_based\_ros2\_control](https://forums.developer.nvidia.com/t/inconsistent-trajectory-following-in-isaac-sim-with-moveit-using-topic-based-ros2-control/312476)
**Author:** [@daohui.liu](https://forums.developer.nvidia.com/u/daohui.liu)\ **Replies:** 7\ **Last updated:** [March 10, 2025, 12:55pm UTC](https://forums.developer.nvidia.com/t/inconsistent-trajectory-following-in-isaac-sim-with-moveit-using-topic-based-ros2-control/312476 "2025-03-10T12:55:02Z")
Hi everyone, I’ve been following a tutorial video How to Use MoveIt with Isaac Sim: A Step-by-Step Guide on using a UR robotic arm with MoveIt in Isaac Sim. This tutorial uses the topic\_based\_ros2\_control method, as de… --- ## [Simulation behaves oddly when GPU dynamics are enabled](https://forums.developer.nvidia.com/t/simulation-behaves-oddly-when-gpu-dynamics-are-enabled/324190)
**Author:** [@servey.11](https://forums.developer.nvidia.com/u/servey.11)\ **Replies:** 0\ **Last updated:** [February 18, 2025, 8:14pm UTC](https://forums.developer.nvidia.com/t/simulation-behaves-oddly-when-gpu-dynamics-are-enabled/324190 "2025-02-18T20:14:50Z")
Isaac Sim Version 4.5.0 4.2.0 4.1.0 4.0.0 4.5.0 2023.1.1 2023.1.0-hotfix.1 Other (please specify): Operating System Ubuntu 22.04 Ubuntu 20.04 Windows 11 Windows 10 Other (please specify): GPU In… --- ## [Isaac Sim Libraries compiled with -D\_GLIBCXX\_USE\_CXX11\_ABI=0 flag](https://forums.developer.nvidia.com/t/isaac-sim-libraries-compiled-with-d-glibcxx-use-cxx11-abi-0-flag/323655)
**Author:** [@alex.perez1](https://forums.developer.nvidia.com/u/alex.perez1)\ **Replies:** 1\ **Last updated:** [March 4, 2025, 12:09pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-libraries-compiled-with-d-glibcxx-use-cxx11-abi-0-flag/323655 "2025-03-04T12:09:48Z")
Isaac Sim Version 4.5.0 4.2.0 4.1.0 4.0.0 4.5.0 2023.1.1 2023.1.0-hotfix.1 Other (please specify): Operating System Ubuntu 22.04 Ubuntu 20.04 Windows 11 Windows 10 Other (please specify): Why we… --- ## [Resetting the scene (InteractiveScene class)](https://forums.developer.nvidia.com/t/resetting-the-scene-interactivescene-class/319857)
**Author:** [@lrr](https://forums.developer.nvidia.com/u/lrr)\ **Replies:** 1\ **Last updated:** [February 14, 2025, 3:58pm UTC](https://forums.developer.nvidia.com/t/resetting-the-scene-interactivescene-class/319857 "2025-02-14T15:58:15Z")
Hi, I’m trying to create a scene for a simulation environment using the InteractveSceneCfg and InteractiveScene classes. I added some rigid objects to my scene using the RigidObjectCfg class. Everything works fine but w… [Next page](https://forums.developer.nvidia.com/tag/isaac-sim-v4-1-0/1063.md?match_all_tags=true&page=1&tags%5B%5D=isaac-sim-v4-1-0)