Isaac Sim Version
5.1.0
Environment Configuration
- Development Environment: Ubuntu 24.04
- Isaac Sim Environment: See the
isaac_sim() - Isaac ROS Environment: See the
isaac_ros() - GPU Model:4080 max-Q/mobile
- Driver Version:580.95.05
Topic Description
Task Objective
Publish camera sensor data from Isaac Sim to the ROS topics /camera_info and /rgb so that ROS nodes can subscribe to and process this data. The topics are on the local network domain with ROS_DOMAIN_ID=30.
Problem Description
After starting the Isaac Sim container, I launch Isaac Sim using ./runapp.sh or ./runheadless.sh and load the sensor.usd scene. Then, after launching the isaac_ros() environment in another terminal, the ros2 topic list command correctly shows the /camera_info and /rgb topics.
However, when viewing in RViz2, the image display is problematic: sometimes no image is displayed (with a “No Image” status), or stop display after certain period of time. Rebooting the computer or restarting the containers seems to temporarily fix the issue, but the problem reappears after some time.
When the issue occurs, both ros2 topic echo /rgb and ros2 topic hz /rgb show no data output. I have tried to stop mounting the cache files, but this did not solve the problem. The relevant Isaac Sim log can be found in isaac_sim.log.
What I’ve Tried
Reboot, restart container (occationally works)
isaac_sim.log
The NVIDIA Isaac Sim Additional Software and Materials License must be accepted
before
Isaac Sim can start. The license terms for this product can be viewed at
https://www.nvidia.com/en-us/agreements/enterprise-software/isaac-sim-additional
-software-and-materials-license/
Omniverse Software collects installation and configuration details about your so
ftware, hardware, and network
configuration (e.g., version of operating system, applications installed, type o
f hardware, network speed, IP
address) based on our legitimate interest in improving your experience. To impro
ve performance, troubleshooting
and diagnostic purposes of our software, we also collect session behavior, error
and crash logs.
Data Collection in container mode is completely anonymous unless specified. You
may opt-out of this collection
anytime by not setting the OMNI_ENV_PRIVACY_CONSENT environment variable.
To opt-in set the OMNI_ENV_PRIVACY_CONSENT environment variable when running the
container. Set the
OMNI_ENV_PRIVACY_USERID environment variable tag the telemetry data with a user
ID.
Loading user config located at: '/isaac-sim/.local/share/ov/data/Kit/Isaac-Sim F
ull/5.1/user.config.json'
[Info] [carb] Logging to file: /isaac-sim/.nvidia-omniverse/logs/Kit/Isaac-Sim F
ull/5.1/kit_20251128_090101.log
2025-11-28T09:01:01Z [0ms] [Warning] [carb.crashreporter-breakpad.plugin] [previ
ous crash] preventing upload of minidump due to user opt-out: '/isaac-sim/.local
/share/ov/data/Kit/Isaac-Sim Full/5.1/953835e0-1a5e-49a9-319069b3-cd3d020c.dmp'
[0.526s] [ext: omni.kit.async_engine-0.0.3] startup
[0.904s] [ext: omni.metrics.core-0.0.3] startup
[0.904s] [ext: omni.client.lib-1.1.0] startup
[0.945s] [ext: omni.blobkey-1.1.2] startup
[0.945s] [ext: omni.stats-1.0.1] startup
[0.966s] [ext: omni.datastore-0.0.0] startup
[0.970s] [ext: omni.client-1.3.0] startup
[0.973s] [ext: omni.ujitso.default-1.0.0] startup
[0.974s] [ext: omni.hsscclient-1.1.2] startup
[1.019s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[1.086s] [ext: omni.assets.plugins-0.0.0] startup
[1.087s] [ext: omni.gpu_foundation-0.0.0] startup
[1.091s] [ext: carb.windowing.plugins-1.0.0] startup
[1.102s] [ext: omni.kit.renderer.init-0.0.0] startup
|-------------------------------------------------------------------------------
--------------|
| Driver Version: 580.95.05 | Graphics API: Vulkan
|===============================================================================
==============|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID
| LUID |
| | | | | | Device-ID
| UUID |
| | | | | | Bus-ID
| |
|-------------------------------------------------------------------------------
--------------|
| 0 | NVIDIA GeForce RTX 4080 Laptop.. | Yes: 0 | | 12282 MB | 10de
| 0 |
| | | | | | 27e0
| c1fc9a8d.. |
| | | | | | 1
| |
|===============================================================================
==============|
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.14.0-36-gen
eric
| XServer Vendor: The X.Org Foundation, XServer Version: 12302006 (1.23.2.6)
| Processor: 13th Gen Intel(R) Core(TM) i9-13980HX
| Bare Metal Cores: 24 | Bare Metal Logical Cores: 48
| Available Cores: 32
|-------------------------------------------------------------------------------
--------------|
| Total Memory (MB): 63951 | Free Memory: 58266
| Total Page/Swap (MB): 8191 | Free Page/Swap: 0
|-------------------------------------------------------------------------------
--------------|
2025-11-28T09:01:02Z [1,464ms] [Warning] [gpu.foundation.plugin] CPU performance
profile is set to powersave. This profile sets the CPU to the lowest frequency
reducing performance.
2025-11-28T09:01:02Z [1,474ms] [Warning] [gpu.foundation.plugin] PCIe link width
current (8) and maximum (16) for device 0 don't match.
[1.607s] [ext: omni.kit.pipapi-0.0.0] startup
[1.643s] [ext: omni.kit.pip_archive-0.0.0] startup
[1.664s] [ext: omni.pip.compute-1.6.3] startup
[1.692s] [ext: omni.materialx.libs-1.0.7] startup
[1.711s] [ext: omni.pip.cloud-1.4.3] startup
[1.751s] [ext: omni.isaac.core_archive-3.0.0] startup
[1.773s] [ext: omni.usd.config-1.0.6] startup
[1.797s] [ext: omni.gpucompute.plugins-0.0.0] startup
[1.797s] [ext: omni.usd.libs-1.0.1] startup
[1.840s] [ext: omni.services.pip_archive-0.16.0] startup
[1.867s] [ext: omni.mdl-56.0.3] startup
[2.260s] [ext: omni.iray.libs-0.0.0] startup
[2.264s] [ext: omni.mdl.neuraylib-0.2.12] startup
[2.307s] [ext: omni.kit.usd.mdl-1.1.5] startup
[2.517s] [ext: omni.isaac.ml_archive-3.0.4] startup
[2.541s] [ext: omni.kit.loop-isaac-1.3.7] startup
[2.570s] [ext: omni.kit.test-2.0.1] startup
[2.830s] [ext: omni.kit.telemetry-0.5.2] startup
[2.877s] [ext: omni.appwindow-1.1.10] startup
[2.898s] [ext: omni.kit.renderer.core-1.1.0] startup
[2.992s] [ext: omni.kit.renderer.capture-0.0.0] startup
[3.034s] [ext: omni.kit.renderer.imgui-2.0.5] startup
[3.099s] [ext: omni.ui-2.27.1] startup
[3.129s] [ext: omni.kit.mainwindow-1.0.3] startup
[3.157s] [ext: carb.audio-0.1.0] startup
[3.159s] [ext: omni.uiaudio-1.0.0] startup
[3.184s] [ext: omni.kit.uiapp-0.0.0] startup
[3.184s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
[3.225s] [ext: omni.usd.schema.audio-0.0.0] startup
[3.254s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[3.288s] [ext: omni.usd.schema.isaac-3.0.5] startup
[3.288s] [ext: omni.anim.graph.schema-107.3.3] startup
[3.331s] [ext: omni.usd.schema.semantics-0.0.0] startup
[3.358s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[3.391s] [ext: omni.usd.schema.anim-0.0.0] startup
[3.445s] [ext: omni.usd.schema.geospatial-0.0.0] startup
[3.472s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
[3.503s] [ext: omni.activity.core-1.0.3] startup
[3.525s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
[3.555s] [ext: omni.usd_resolver-1.0.0] startup
[3.578s] [ext: omni.kit.usd_undo-0.1.8] startup
[3.598s] [ext: omni.graph.exec-0.9.6] startup
[3.598s] [ext: omni.usd.core-1.5.3] startup
[3.600s] [ext: omni.kit.actions.core-1.0.0] startup
[3.627s] [ext: omni.resourcemonitor-107.0.1] startup
[3.654s] [ext: omni.kit.exec.core-0.13.4] startup
[3.690s] [ext: usdrt.scenegraph-7.6.1] startup
[3.821s] [ext: omni.timeline-1.0.14] startup
[3.838s] [ext: omni.kit.commands-1.4.10] startup
[3.875s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
[3.896s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
[3.919s] [ext: omni.hydra.scene_delegate-0.3.4] startup
[3.921s] [ext: omni.usd-1.13.10] startup
[4.047s] [ext: omni.inspect-1.0.2] startup
[4.063s] [ext: omni.kit.notification_manager-1.0.10] startup
[4.087s] [ext: omni.graph.core-2.184.5] startup
[4.089s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup
[4.112s] [ext: omni.usd.schema.flow-107.1.1] startup
[4.132s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
[4.158s] [ext: omni.anim.navigation.schema-107.3.3] startup
[4.190s] [ext: isaacsim.robot.schema-3.6.0] startup
[4.247s] [ext: omni.usd.schema.scene.visualization-2.0.2] startup
[4.278s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
[4.303s] [ext: omni.kit.asset_converter-5.0.17] startup
[4.350s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
[4.381s] [ext: omni.usd.schema.physx-107.3.26] startup
[4.443s] [ext: omni.kit.collaboration.telemetry-1.1.0] startup
[4.469s] [ext: omni.volume-0.5.2] startup
[4.485s] [ext: omni.kit.manipulator.selector-1.1.3] startup
[4.512s] [ext: omni.kit.collaboration.channel_manager-1.0.14] startup
[4.539s] [ext: omni.kit.menu.core-1.1.2] startup
[4.567s] [ext: omni.kit.usd.layers-2.2.11] startup
[4.616s] [ext: omni.kit.menu.utils-2.0.5] startup
[4.689s] [ext: omni.ui.scene-1.11.5] startup
[4.707s] [ext: omni.kit.primitive.mesh-1.0.17] startup
[4.755s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
[4.788s] [ext: omni.fabric.commands-1.1.6] startup
[4.827s] [ext: omni.kit.helper.file_utils-0.1.9] startup
[4.861s] [ext: omni.kit.widget.nucleus_info-2.0.2] startup
[4.888s] [ext: omni.kit.widget.filebrowser-2.12.3] startup
[4.932s] [ext: omni.kit.search_core-1.0.8] startup
[4.958s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[4.993s] [ext: omni.kit.widget.search_delegate-1.0.7] startup
[5.027s] [ext: omni.kit.widget.path_field-2.0.11] startup
[5.062s] [ext: omni.kit.widget.options_button-1.0.3] startup
[5.090s] [ext: omni.index.libs-380600.8087.0] startup
[5.090s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
[5.122s] [ext: omni.kit.widget.context_menu-1.2.5] startup
[5.156s] [ext: omni.index-1.0.1] startup
[5.156s] [ext: omni.ujitso.client-0.0.0] startup
[5.157s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
[5.190s] [ext: omni.kit.widget.versioning-1.4.10] startup
[5.223s] [ext: omni.kit.clipboard-1.0.5] startup
[5.248s] [ext: omni.hydra.rtx-1.0.0] startup
2025-11-28T09:01:06Z [5,237ms] [Warning] [omni.log] Source: omni.hydra was alrea
dy registered.
[5.266s] [ext: omni.kit.window.filepicker-2.13.4] startup
[5.385s] [ext: omni.kit.context_menu-1.8.6] startup
[5.416s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
[5.449s] [ext: omni.kit.hydra_texture-1.4.6] startup
[5.481s] [ext: omni.kit.window.file_importer-1.1.18] startup
[5.513s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup
[5.544s] [ext: omni.kit.raycast.query-1.1.0] startup
[5.579s] [ext: omni.kit.material.library-2.0.7] startup
[5.622s] [ext: omni.kit.widget.viewport-107.1.3] startup
[5.678s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
[5.709s] [ext: omni.kit.window.drop_support-1.0.5] startup
[5.740s] [ext: omni.kit.viewport.registry-104.0.6] startup
[5.767s] [ext: omni.hydra.engine.stats-1.0.3] startup
[5.798s] [ext: omni.kit.widget.settings-1.2.6] startup
[5.835s] [ext: omni.kit.viewport.window-107.2.0] startup
[5.921s] [ext: omni.kit.window.preferences-1.8.0] startup
[5.992s] [ext: omni.kit.widget.toolbar-2.0.1] startup
[6.043s] [ext: omni.kit.viewport.utility-1.1.2] startup
[6.075s] [ext: omni.kit.manipulator.transform-107.0.0] startup
[6.114s] [ext: omni.kit.widget.prompt-1.0.7] startup
[6.145s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
[6.186s] [ext: omni.kit.widget.live_session_management.ui-1.0.3] startup
[6.230s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[6.265s] [ext: omni.kit.collaboration.presence_layer-1.1.2] startup
[6.301s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
[6.351s] [ext: omni.kit.property.adapter.core-1.0.2] startup
[6.391s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
[6.425s] [ext: omni.kit.widget.live_session_management-1.2.23] startup
[6.462s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
[6.502s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[6.537s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
[6.582s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[6.582s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
[6.611s] [ext: omni.kit.widget.filter-1.1.4] startup
[6.643s] [ext: omni.kit.window.file_exporter-1.0.33] startup
[6.672s] [ext: omni.kit.stage_template.core-1.1.22] startup
[6.702s] [ext: omni.kit.widget.searchfield-1.1.8] startup
[6.738s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
[6.766s] [ext: omni.kit.window.file-2.0.5] startup
[6.808s] [ext: omni.kit.hotkeys.core-1.3.10] startup
[6.809s] [ext: omni.kit.window.property-1.12.1] startup
[6.850s] [ext: omni.kit.window.content_browser-3.1.3] startup
[6.898s] [ext: omni.kit.widget.stage-3.1.4] startup
[6.974s] [ext: omni.convexdecomposition-107.3.26] startup
[7.000s] [ext: omni.kit.property.usd-4.5.12] startup
[7.077s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[7.112s] [ext: omni.kvdb-107.3.26] startup
[7.134s] [ext: omni.usdphysics-107.3.26] startup
[7.160s] [ext: omni.physx.foundation-107.3.26] startup
[7.185s] [ext: omni.localcache-107.3.26] startup
[7.208s] [ext: omni.debugdraw-0.1.4] startup
[7.233s] [ext: omni.physx.cooking-107.3.26] startup
[7.260s] [ext: omni.physics-107.3.26] startup
[7.291s] [ext: omni.physx-107.3.26] startup
[7.322s] [ext: omni.physics.stageupdate-107.3.26] startup
[7.354s] [ext: omni.physics.physx-107.3.26] startup
2025-11-28T09:01:08Z [7,334ms] [Warning] [carb] Acquiring non optional plugin in
terface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0]
(plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB
_PLUGIN_IMPL_DEPS() macro of a client.
[7.375s] [ext: omni.kit.numpy.common-0.1.3] startup
[7.404s] [ext: omni.kit.window.cursor-1.1.4] startup
[7.435s] [ext: omni.isaac.dynamic_control-2.0.7] startup
2025-11-28T09:01:08Z [7,450ms] [Warning] [omni.isaac.dynamic_control] omni.isaac
.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end
-users.
[7.477s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup
[7.570s] [ext: omni.kit.viewport.actions-107.0.2] startup
[7.604s] [ext: isaacsim.core.version-2.0.6] startup
[7.633s] [ext: omni.kit.widget.layers-1.8.6] startup
[7.703s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
[7.747s] [ext: isaacsim.storage.native-1.5.1] startup
[7.785s] [ext: omni.usdphysics.ui-107.3.26] startup
[7.847s] [ext: omni.physx.commands-107.3.26] startup
[7.889s] [ext: omni.graph.tools-1.79.2] startup
[8.025s] [ext: omni.usd.metrics.assembler-107.3.1] startup
[8.064s] [ext: omni.physx.ui-107.3.26] startup
[8.174s] [ext: omni.physics.tensors-107.3.26] startup
[8.218s] [ext: omni.warp.core-1.8.2] startup
[8.484s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup
[8.533s] [ext: omni.kit.widget.text_editor-1.1.1] startup
[8.563s] [ext: omni.physx.tensors-107.3.26] startup
[8.566s] [ext: isaacsim.core.utils-3.5.1] startup
[8.616s] [ext: omni.graph-1.141.2] startup
[8.764s] [ext: omni.ui_query-1.1.8] startup
[8.783s] [ext: omni.kit.window.extensions-1.4.27] startup
[8.835s] [ext: isaacsim.core.simulation_manager-1.4.4] startup
[11.505s] [ext: omni.kit.widget.graph-2.0.0] startup
[11.554s] [ext: omni.graph.image.core-0.6.1] startup
[11.555s] [ext: isaacsim.core.prims-0.6.1] startup
[11.641s] [ext: omni.kit.stage_templates-2.0.0] startup
[11.670s] [ext: omni.kit.graph.delegate.default-1.2.3] startup
[11.701s] [ext: omni.graph.image.nodes-1.3.1] startup
[11.703s] [ext: omni.graph.action_core-1.1.7] startup
[11.729s] [ext: isaacsim.core.api-4.8.0] startup
[11.843s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[11.882s] [ext: omni.syntheticdata-0.6.13] startup
[11.959s] [ext: omni.graph.ui-1.101.6] startup
[12.067s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[12.098s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[12.130s] [ext: omni.videoencoding-0.1.2] startup
[12.147s] [ext: omni.graph.action_nodes-1.50.4] startup
[12.173s] [ext: omni.kit.window.material_graph-1.9.1] startup
[12.273s] [ext: omni.graph.nodes-1.170.10] startup
[12.304s] [ext: omni.graph.action-1.130.0] startup
[12.325s] [ext: omni.kit.ui_test-1.3.7] startup
[12.350s] [ext: omni.graph.visualization.nodes-2.1.3] startup
[12.388s] [ext: omni.graph.ui_nodes-1.50.5] startup
[12.433s] [ext: omni.kit.selection-0.1.6] startup
[12.463s] [ext: omni.warp-1.8.2] startup
[12.510s] [ext: isaacsim.gui.components-1.2.1] startup
[12.587s] [ext: isaacsim.gui.menu-2.4.4] startup
[12.767s] [ext: omni.graph.scriptnode-1.50.0] startup
[12.796s] [ext: isaacsim.test.docstring-1.1.0] startup
[12.839s] [ext: isaacsim.core.experimental.utils-0.3.0] startup
[12.873s] [ext: omni.replicator.core-1.12.27] startup
2025-11-28T09:01:14Z [12,932ms] [Warning] [pxr.Semantics] pxr.Semantics is depre
cated - please use Semantics instead
Warp 1.8.2 initialized:
CUDA Toolkit 12.8, Driver 13.0
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA GeForce RTX 4080 Laptop GPU" (12 GiB, sm_89, mempool e
nabled)
Kernel cache:
/isaac-sim/.cache/warp/1.8.2
2025-11-28T09:01:14Z [13,112ms] [Warning] [omni.graph.core.plugin] Found duplica
te of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
2025-11-28T09:01:14Z [13,112ms] [Warning] [omni.graph.core.plugin] Category 'Rep
licator' not accepted on node type 'omni.replicator.core.FabricReader' in extens
ion 'omni.replicator.core'
2025-11-28T09:01:14Z [13,113ms] [Warning] [omni.replicator.core.scripts.extensio
n] No material configuration file, adding configuration to material settings dir
ectly.
[13.136s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
[13.286s] [ext: isaacsim.core.nodes-3.4.3] startup
[13.345s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
[13.395s] [ext: isaacsim.sensors.camera-1.3.6] startup
[13.478s] [ext: isaacsim.robot.surface_gripper.ui-3.0.2] startup
[13.564s] [ext: isaacsim.sensors.camera.ui-0.2.2] startup
[13.640s] [ext: omni.kit.core.collection-0.2.3] startup
[13.711s] [ext: isaacsim.core.experimental.materials-0.4.0] startup
[13.861s] [ext: omni.kit.widget.zoombar-1.0.6] startup
Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed
in v1.10. Please transition to using the forthcoming Newton library instead.
[13.923s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
[13.958s] [ext: omni.kit.browser.core-2.3.13] startup
[14.014s] [ext: isaacsim.core.experimental.objects-0.4.0] startup
[14.077s] [ext: omni.kit.usd.collect-2.4.5] startup
[14.114s] [ext: omni.kit.window.stage-2.6.1] startup
[14.144s] [ext: omni.kit.browser.folder.core-1.10.9] startup
[14.207s] [ext: isaacsim.util.debug_draw-3.1.0] startup
[14.242s] [ext: isaacsim.robot_motion.lula-4.0.8] startup
[14.274s] [ext: omni.kit.tool.collect-2.2.18] startup
[14.306s] [ext: omni.kit.menu.stage-1.2.7] startup
[14.336s] [ext: omni.kit.usdz_export-1.0.9] startup
[14.360s] [ext: isaacsim.robot.manipulators-3.3.6] startup
[14.403s] [ext: isaacsim.sensors.physx-2.3.2] startup
[14.460s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup
[14.510s] [ext: isaacsim.asset.browser-1.3.23] startup
[14.691s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
[14.737s] [ext: omni.isaac.nucleus-1.0.6] startup
2025-11-28T09:01:16Z [14,737ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleu
s has been deprecated in favor of isaacsim.storage.native. Please update your co
de accordingly.
2025-11-28T09:01:16Z [14,738ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaa
c.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Pleas
e update your code accordingly.
[14.759s] [ext: omni.isaac.range_sensor-4.0.6] startup
2025-11-28T09:01:16Z [14,758ms] [Warning] [omni.isaac.range_sensor] omni.isaac.r
ange_sensor has been deprecated in favor of isaacsim.sensors.physx. Please updat
e your code accordingly.
2025-11-28T09:01:16Z [14,758ms] [Warning] [omni.isaac.range_sensor.commands] omn
i.isaac.range_sensor.commands has been deprecated in favor of isaacsim.sensors.p
hysx.commands. Please update your code accordingly.
[14.784s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup
[14.811s] [ext: omni.isaac.asset_browser-1.0.6] startup
2025-11-28T09:01:16Z [14,812ms] [Warning] [omni.isaac.asset_browser] omni.isaac.
asset_browser has been deprecated in favor of isaacsim.asset.browser. Please upd
ate your code accordingly.
[14.838s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
[14.883s] [ext: isaacsim.core.cloner-1.4.10] startup
[14.912s] [ext: omni.isaac.assets_check-0.3.13] startup
2025-11-28T09:01:16Z [14,912ms] [Warning] [omni.isaac.assets_check] omni.isaac.a
ssets_check has been deprecated in favor of isaacsim.asset.browser. Please updat
e your code accordingly.
[14.933s] [ext: isaacsim.cortex.framework-1.0.12] startup
[14.956s] [ext: isaacsim.examples.browser-0.2.1] startup
[14.980s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup
[15.058s] [ext: omni.isaac.cloner-1.0.7] startup
2025-11-28T09:01:16Z [15,058ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner
has been deprecated in favor of isaacsim.core.cloner. Please update your code ac
cordingly.
[15.084s] [ext: omni.importer.onshape-1.0.1] startup
[15.129s] [ext: omni.kit.widget.collection-0.3.1] startup
[15.185s] [ext: omni.isaac.core_nodes-2.0.6] startup
2025-11-28T09:01:16Z [15,199ms] [Warning] [omni.isaac.core_nodes] omni.isaac.cor
e_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your
code accordingly.
[15.230s] [ext: omni.isaac.cortex-1.0.5] startup
2025-11-28T09:01:16Z [15,244ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex
has been deprecated in favor of isaacsim.cortex.framework. Please update your co
de accordingly.
[15.265s] [ext: isaacsim.core.throttling-2.2.2] startup
[15.296s] [ext: omni.kit.window.collection-0.3.1] startup
2025-11-28T09:01:16Z [15,311ms] [Warning] [omni.kit.window.collection.collection
_watch] Get collection from usdrt stage failed: Attach(): incompatible function
arguments. The following argument types are supported:
1. (stageId: int) -> usdrt.Usd._Usd.Stage
2. (fabricId: usdrt.helpers._helpers.FabricId) -> usdrt.Usd._Usd.Stage
Invoked with: -1
[15.332s] [ext: omni.anim.shared.core-107.0.1] startup
[15.367s] [ext: omni.sensors.nv.common-3.0.0] startup
[15.406s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
[15.463s] [ext: omni.isaac.franka-1.0.7] startup
2025-11-28T09:01:16Z [15,462ms] [Warning] [omni.isaac.franka] omni.isaac.franka
has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Ple
ase update your code accordingly.
2025-11-28T09:01:16Z [15,463ms] [Warning] [omni.isaac.franka.franka] omni.isaac.
franka has been deprecated in favor of isaacsim.robot.manipulators.examples.fran
ka. Please update your code accordingly.
2025-11-28T09:01:16Z [15,502ms] [Warning] [omni.isaac.franka.kinematics_solver]
omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.ex
amples.franka. Please update your code accordingly.
[15.523s] [ext: isaacsim.cortex.behaviors-2.0.14] startup
[15.544s] [ext: omni.sensors.nv.materials-2.0.0] startup
[15.573s] [ext: omni.sensors.nv.wpm-3.0.0] startup
[15.575s] [ext: omni.sensors.net-1.0.0] startup
[15.597s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup
2025-11-28T09:01:16Z [15,601ms] [Warning] [omni.isaac.cortex.sample_behaviors] o
mni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.corte
x.behaviors. Please update your code accordingly.
[15.622s] [ext: isaacsim.sensors.physics-0.4.3] startup
[15.665s] [ext: omni.sensors.nv.radar-3.0.0] startup
[15.675s] [ext: omni.sensors.nv.lidar-3.0.0] startup
[15.720s] [ext: omni.sensors.nv.ids-2.0.0] startup
[15.722s] [ext: isaacsim.simulation_app-2.12.2] startup
[15.742s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
[15.773s] [ext: isaacsim.sensors.rtx-15.8.4] startup
[15.824s] [ext: omni.isaac.kit-2.0.6] startup
2025-11-28T09:01:17Z [15,828ms] [Warning] [omni.isaac.kit] omni.isaac.kit has be
en deprecated in favor of isaacsim.simulation_app. Please update your code accor
dingly.
[15.849s] [ext: omni.isaac.quadruped-3.0.7] startup
2025-11-28T09:01:17Z [15,860ms] [Warning] [omni.isaac.quadruped] omni.isaac.quad
ruped has been deprecated in favor of isaacsim.robot.policy.examples. Please upd
ate your code accordingly.
[15.897s] [ext: omni.isaac.lula-4.0.6] startup
2025-11-28T09:01:17Z [15,902ms] [Warning] [omni.isaac.lula] omni.isaac.lula has
been deprecated in favor of isaacsim.robot_motion.lula. Please update your code
accordingly.
[15.933s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup
[16.057s] [ext: isaacsim.gui.content_browser-0.1.11] startup
[16.110s] [ext: omni.isaac.sensor-13.0.7] startup
2025-11-28T09:01:17Z [16,121ms] [Warning] [omni.isaac.sensor] omni.isaac.sensor
has been deprecated in favor of isaacsim.sensors.camera, isaacsim.sensors.physic
s, isaacsim.sensors.physx, and isaacsim.sensors.rtx. Please update your code acc
ordingly.
2025-11-28T09:01:17Z [16,121ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.
sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Pl
ease update your code accordingly.
2025-11-28T09:01:17Z [16,124ms] [Warning] [omni.isaac.sensor.camera_view] omni.i
saac.sensor.camera_view has been deprecated in favor of isaacsim.sensors.camera.
camera_view. Please update your code accordingly.
2025-11-28T09:01:17Z [16,129ms] [Warning] [omni.isaac.sensor.commands] omni.isaa
c.sensor.commands has been deprecated in favor of isaacsim.sensors.physics.comma
nds, isaacsim.sensors.physx.commands, and isaacsim.sensors.rtx.commands. Please
update your code accordingly.
2025-11-28T09:01:17Z [16,131ms] [Warning] [omni.isaac.sensor.contact_sensor] omn
i.isaac.sensor.contact_sensor has been deprecated in favor of isaacsim.sensors.p
hysics.contact_sensor. Please update your code accordingly.
2025-11-28T09:01:17Z [16,132ms] [Warning] [omni.isaac.sensor.imu_sensor] omni.is
aac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.i
mu_sensor. Please update your code accordingly.
2025-11-28T09:01:17Z [16,134ms] [Warning] [omni.isaac.sensor.lidar_rtx] omni.isa
ac.sensor.lidar_rtx has been deprecated in favor of isaacsim.sensors.rtx.lidar_r
tx. Please update your code accordingly.
2025-11-28T09:01:17Z [16,195ms] [Warning] [omni.isaac.sensor.rotating_lidar_phys
X] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors
.physix.rotating_lidar_physX. Please update your code accordingly.
2025-11-28T09:01:17Z [16,381ms] [Warning] [omni.isaac.sensor.scripts.samples.con
tact_sensor] omni.isaac.sensor.scripts.samples.contact_sensor has been deprecate
d in favor of isaacsim.sensors.physics.scripts.samples.contact_sensor. Please up
date your code accordingly.
2025-11-28T09:01:17Z [16,398ms] [Warning] [omni.isaac.sensor.scripts.samples.imu
_sensor] omni.isaac.sensor.scripts.samples.imu_sensor has been deprecated in fav
or of isaacsim.sensors.physics.scripts.samples.imu_sensor. Please update your co
de accordingly.
2025-11-28T09:01:17Z [16,400ms] [Warning] [omni.isaac.sensor.scripts.samples.lig
htbeam_sensor] omni.isaac.sensor.scripts.samples.lightbeam_sensor has been depre
cated in favor of isaacsim.sensors.physx.scripts.samples.lightbeam_sensor. Pleas
e update your code accordingly.
[16.429s] [ext: omni.isaac.surface_gripper-2.0.6] startup
2025-11-28T09:01:17Z [16,429ms] [Warning] [omni.isaac.surface_gripper] omni.isaa
c.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper
. Please update your code accordingly.
[16.455s] [ext: omni.isaac.universal_robots-1.0.6] startup
2025-11-28T09:01:17Z [16,457ms] [Warning] [omni.isaac.universal_robots] omni.isa
ac.universal_robots has been deprecated in favor of isaacsim.robot.manipulators.
examples.universal_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,458ms] [Warning] [omni.isaac.universal_robots.kinematic
s_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manip
ulators.examples.universal_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,465ms] [Warning] [omni.isaac.universal_robots.ur10] omn
i.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examp
les.universal_robots. Please update your code accordingly.
[16.486s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
[16.542s] [ext: omni.isaac.utils-2.0.6] startup
[16.588s] [ext: isaacsim.app.about-2.0.11] startup
[16.614s] [ext: omni.isaac.version-2.0.7] startup
2025-11-28T09:01:17Z [16,617ms] [Warning] [omni.isaac.version] omni.isaac.versio
n has been deprecated in favor of isaacsim.core.version. Please update your code
accordingly.
[16.644s] [ext: omni.isaac.wheeled_robots-3.0.7] startup
2025-11-28T09:01:17Z [16,645ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac
.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. P
lease update your code accordingly.
2025-11-28T09:01:17Z [16,650ms] [Warning] [omni.isaac.wheeled_robots.controllers
] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheel
ed_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,650ms] [Warning] [omni.isaac.wheeled_robots.controllers
.ackermann_controller] omni.isaac.wheeled_robots has been deprecated in favor of
isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,650ms] [Warning] [omni.isaac.wheeled_robots.controllers
.differential_controller] omni.isaac.wheeled_robots has been deprecated in favor
of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,651ms] [Warning] [omni.isaac.wheeled_robots.controllers
.holonomic_controller] omni.isaac.wheeled_robots has been deprecated in favor of
isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,651ms] [Warning] [omni.isaac.wheeled_robots.controllers
.quintic_path_planner] omni.isaac.wheeled_robots has been deprecated in favor of
isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,651ms] [Warning] [omni.isaac.wheeled_robots.controllers
.stanley_control] omni.isaac.wheeled_robots has been deprecated in favor of isaa
csim.robot.wheeled_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,651ms] [Warning] [omni.isaac.wheeled_robots.controllers
.wheel_base_pose_controller] omni.isaac.wheeled_robots has been deprecated in fa
vor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,656ms] [Warning] [omni.isaac.wheeled_robots.impl] omni.
isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robo
ts. Please update your code accordingly.
2025-11-28T09:01:17Z [16,662ms] [Warning] [omni.isaac.wheeled_robots.robots] omn
i.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_ro
bots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,662ms] [Warning] [omni.isaac.wheeled_robots.robots.holo
nomic_robot_usd_setup] omni.isaac.wheeled_robots has been deprecated in favor of
isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-11-28T09:01:17Z [16,662ms] [Warning] [omni.isaac.wheeled_robots.robots.whee
led_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.ro
bot.wheeled_robots. Please update your code accordingly.
[16.689s] [ext: omni.kit.widget.imageview-1.0.4] startup
[16.717s] [ext: omni.isaac.window.about-2.0.7] startup
2025-11-28T09:01:18Z [16,724ms] [Warning] [omni.isaac.window.about] omni.isaac.w
indow.about has been deprecated in favor of isaacsim.app.about. Please update yo
ur code accordingly.
2025-11-28T09:01:18Z [16,724ms] [Warning] [omni.isaac.window.about.about] omni.i
saac.window.about.about has been deprecated in favor of isaacsim.app.about.about
. Please update your code accordingly.
[16.750s] [ext: omni.kit.property.audio-1.0.16] startup
[16.784s] [ext: omni.kit.property.camera-1.0.10] startup
[16.817s] [ext: omni.kit.window.quicksearch-2.4.4] startup
[16.849s] [ext: omni.kit.property.geometry-2.0.4] startup
[16.885s] [ext: omni.hydra.scene_api-0.1.2] startup
[16.908s] [ext: omni.kit.property.light-1.0.12] startup
[16.955s] [ext: omni.kit.property.material-1.11.9] startup
[17.032s] [ext: omni.kit.property.render-1.2.1] startup
[17.058s] [ext: omni.kit.property.transform-1.5.13] startup
[17.103s] [ext: isaacsim.gui.property-1.1.3] startup
[17.129s] [ext: omni.kit.manipulator.camera-106.0.4] startup
[17.167s] [ext: omni.isaac.core-4.0.7] startup
2025-11-28T09:01:18Z [17,172ms] [Warning] [omni.isaac.core.physics_context.physi
cs_context] omni.isaac.core.physics_context.physics_context has been deprecated
in favor of isaacsim.core.api.physics_context.physics_context. Please update you
r code accordingly.
2025-11-28T09:01:18Z [17,177ms] [Warning] [omni.isaac.core.simulation_context.si
mulation_context] omni.isaac.core.simulation_context.simulation_context has been
deprecated in favor of isaacsim.core.api.simulation_context.simulation_context.
Please update your code accordingly.
2025-11-28T09:01:18Z [17,182ms] [Warning] [omni.isaac.core.world.world] omni.isa
ac.core.world.world has been deprecated in favor of isaacsim.core.api.world.worl
d. Please update your code accordingly.
2025-11-28T09:01:18Z [17,182ms] [Warning] [omni.isaac.core] omni.isaac.core has
been deprecated in favor of isaacsim.core.api. Please update your code according
ly.
[17.208s] [ext: omni.kit.property.bundle-1.4.1] startup
[17.234s] [ext: omni.kit.property.isaac-1.0.6] startup
2025-11-28T09:01:18Z [17,238ms] [Warning] [omni.kit.property.isaac] omni.kit.pro
perty.isaac has been deprecated in favor of isaacsim.gui.property. Please update
your code accordingly.
2025-11-28T09:01:18Z [17,239ms] [Warning] [omni.kit.property.isaac.widgets] omni
.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.propert
y.widgets. Please update your code accordingly.
[17.260s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
[17.306s] [ext: isaacsim.replicator.writers-1.0.17] startup
[17.408s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
[17.473s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[17.536s] [ext: omni.kit.window.console-1.1.4] startup
[17.574s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup
[17.608s] [ext: isaacsim.replicator.examples-1.3.6] startup
[17.659s] [ext: omni.ocio-0.1.1] startup
[17.682s] [ext: omni.rtx.window.settings-0.6.19] startup
[17.727s] [ext: omni.kit.window.status_bar-0.1.9] startup
[17.730s] [ext: omni.kit.window.toolbar-2.0.0] startup
[17.757s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup
[17.782s] [ext: omni.replicator.isaac-2.0.8] startup
2025-11-28T09:01:19Z [17,783ms] [Warning] [omni.replicator.isaac] omni.replicato
r.isaac has been deprecated in favor of isaacsim.replicator.domain_randomization
, isaacsim.replicator.examples, isaacsim.replicator.writers. Please update your
code accordingly.
[17.809s] [ext: omni.kit.menu.create-2.0.1] startup
[17.836s] [ext: omni.rtx.settings.core-0.6.5] startup
[17.878s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
[17.944s] [ext: omni.isaac.manipulators-3.0.7] startup
2025-11-28T09:01:19Z [17,955ms] [Warning] [omni.isaac.manipulators] omni.isaac.m
anipulators has been deprecated in favor of isaacsim.robot.manipulators. Please
update your code accordingly.
2025-11-28T09:01:19Z [17,970ms] [Warning] [omni.isaac.manipulators.controllers]
omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulat
ors. Please update your code accordingly.
2025-11-28T09:01:19Z [17,971ms] [Warning] [omni.isaac.manipulators.controllers.p
ick_place_controller] omni.isaac.manipulators has been deprecated in favor of is
aacsim.robot.manipulators. Please update your code accordingly.
2025-11-28T09:01:19Z [17,982ms] [Warning] [omni.isaac.manipulators.controllers.s
tacking_controller] omni.isaac.manipulators has been deprecated in favor of isaa
csim.robot.manipulators. Please update your code accordingly.
2025-11-28T09:01:19Z [17,987ms] [Warning] [omni.isaac.manipulators.grippers] omn
i.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators
. Please update your code accordingly.
2025-11-28T09:01:19Z [17,988ms] [Warning] [omni.isaac.manipulators.grippers.grip
per] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.mani
pulators. Please update your code accordingly.
2025-11-28T09:01:19Z [17,988ms] [Warning] [omni.isaac.manipulators.grippers.para
llel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.r
obot.manipulators. Please update your code accordingly.
2025-11-28T09:01:19Z [17,988ms] [Warning] [omni.isaac.manipulators.grippers.surf
ace_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.ro
bot.manipulators. Please update your code accordingly.
2025-11-28T09:01:19Z [17,993ms] [Warning] [omni.isaac.manipulators.manipulators]
omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipula
tors. Please update your code accordingly.
2025-11-28T09:01:19Z [17,993ms] [Warning] [omni.isaac.manipulators.manipulators.
single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaa
csim.robot.manipulators. Please update your code accordingly.
[18.019s] [ext: omni.isaac.lula_test_widget-1.0.6] startup
2025-11-28T09:01:19Z [18,020ms] [Warning] [omni.isaac.lula_test_widget] omni.isa
ac.lula_test_widget has been deprecated in favor of isaacsim.robot_motion.lula_t
est_widget. Please update your code accordingly.
[18.041s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
[18.078s] [ext: omni.isaac.menu-1.0.6] startup
2025-11-28T09:01:19Z [18,078ms] [Warning] [omni.isaac.menu] omni.isaac.menu has
been deprecated in favor of isaacsim.gui.menu. Please update your code according
ly.
[18.104s] [ext: omni.kit.scripting-107.3.2] startup
[18.146s] [ext: semantics.schema.editor-2.0.2] startup
[18.173s] [ext: omni.kit.ui.actions-1.0.5] startup
[18.202s] [ext: semantics.schema.property-2.0.1] startup
[18.224s] [ext: omni.isaac.motion_generation-8.0.7] startup
2025-11-28T09:01:19Z [18,224ms] [Warning] [omni.isaac.motion_generation] omni.is
aac.motion_generation has been deprecated in favor of isaacsim.robot_motion.moti
on_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,225ms] [Warning] [omni.isaac.motion_generation.articula
tion_kinematics_solver] omni.isaac.motion_generation has been deprecated in favo
r of isaacsim.robot_motion.motion_generation. Please update your code accordingl
y.
2025-11-28T09:01:19Z [18,225ms] [Warning] [omni.isaac.motion_generation.articula
tion_motion_policy] omni.isaac.motion_generation has been deprecated in favor of
isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,225ms] [Warning] [omni.isaac.motion_generation.articula
tion_trajectory] omni.isaac.motion_generation has been deprecated in favor of is
aacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,225ms] [Warning] [omni.isaac.motion_generation.kinemati
cs_interface] omni.isaac.motion_generation has been deprecated in favor of isaac
sim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,230ms] [Warning] [omni.isaac.motion_generation.lula] om
ni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion
.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,230ms] [Warning] [omni.isaac.motion_generation.lula.kin
ematics] omni.isaac.motion_generation has been deprecated in favor of isaacsim.r
obot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,230ms] [Warning] [omni.isaac.motion_generation.lula.mot
ion_policies] omni.isaac.motion_generation has been deprecated in favor of isaac
sim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,231ms] [Warning] [omni.isaac.motion_generation.lula.pat
h_planners] omni.isaac.motion_generation has been deprecated in favor of isaacsi
m.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,231ms] [Warning] [omni.isaac.motion_generation.lula.tra
jectory_generator] omni.isaac.motion_generation has been deprecated in favor of
isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,231ms] [Warning] [omni.isaac.motion_generation.motion_p
olicy_controller] omni.isaac.motion_generation has been deprecated in favor of i
saacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,231ms] [Warning] [omni.isaac.motion_generation.motion_p
olicy_interface] omni.isaac.motion_generation has been deprecated in favor of is
aacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,231ms] [Warning] [omni.isaac.motion_generation.path_pla
nner_visualizer] omni.isaac.motion_generation has been deprecated in favor of is
aacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,231ms] [Warning] [omni.isaac.motion_generation.path_pla
nning_interface] omni.isaac.motion_generation has been deprecated in favor of is
aacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,231ms] [Warning] [omni.isaac.motion_generation.trajecto
ry] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_
motion.motion_generation. Please update your code accordingly.
2025-11-28T09:01:19Z [18,231ms] [Warning] [omni.isaac.motion_generation.world_in
terface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.r
obot_motion.motion_generation. Please update your code accordingly.
[18.258s] [ext: omni.anim.curve.core-1.3.1] startup
[18.308s] [ext: isaacsim.replicator.behavior-1.1.16] startup
[18.330s] [ext: omni.mdl.usd_converter-1.0.30] startup
[18.363s] [ext: omni.kit.menu.common-2.0.1] startup
[18.389s] [ext: isaacsim.exp.base-5.1.0] startup
[18.389s] [ext: omni.kit.stage.mdl_converter-1.0.8] startup
[18.416s] [ext: isaacsim.examples.extension-2.0.12] startup
[18.439s] [ext: isaacsim.sensors.physics.examples-0.1.15] startup
[18.467s] [ext: isaacsim.sensors.physics.ui-0.1.12] startup
[18.494s] [ext: isaacsim.replicator.behavior.ui-1.0.5] startup
[18.520s] [ext: isaacsim.examples.interactive-4.7.4] startup
[18.758s] [ext: omni.kit.graph.delegate.modern-1.10.9] startup
[18.806s] [ext: omni.anim.curve.ui-1.4.1] startup
[18.844s] [ext: omni.kit.actions.window-1.1.3] startup
[18.892s] [ext: omni.kit.graph.widget.variables-2.1.0] startup
[18.927s] [ext: isaacsim.util.physics-1.1.5] startup
[18.958s] [ext: omni.anim.curve.bundle-1.2.3] startup
[18.958s] [ext: omni.kit.hotkeys.window-1.4.9] startup
[19.019s] [ext: omni.graph.window.core-2.0.0] startup
[19.090s] [ext: omni.graph.bundle.action-2.30.0] startup
[19.122s] [ext: isaacsim.asset.importer.heightmap-2.0.6] startup
[19.150s] [ext: isaacsim.robot.wheeled_robots.ui-2.1.23] startup
[19.180s] [ext: omni.graph.window.generic-1.50.2] startup
[19.215s] [ext: omni.simready.explorer-1.1.3] startup
[19.252s] [ext: omni.isaac.block_world-2.0.6] startup
2025-11-28T09:01:20Z [19,253ms] [Warning] [omni.isaac.block_world] ['omni.isaac.
block_world'] has been deprecated in favor of ['isaacsim.asset.importer.heightma
p']. Please update your code accordingly.
[19.274s] [ext: isaacsim.asset.gen.omap-2.0.29] startup
[19.320s] [ext: isaacsim.robot_setup.gain_tuner-3.0.6] startup
[19.370s] [ext: isaacsim.robot_setup.grasp_editor-2.0.20] startup
[19.404s] [ext: omni.isaac.extension_templates-2.0.7] startup
2025-11-28T09:01:20Z [19,405ms] [Warning] [omni.isaac.extension_templates] omni.
isaac.extension_templates has been deprecated in favor of isaacsim.examples.exte
nsion. Please update your code accordingly.
[19.426s] [ext: isaacsim.asset.gen.omap.ui-2.2.3] startup
[19.466s] [ext: omni.isaac.gain_tuner-2.0.5] startup
[19.467s] [ext: omni.isaac.grasp_editor-2.0.7] startup
2025-11-28T09:01:20Z [19,467ms] [Warning] [omni.isaac.grasp_editor] omni.isaac.g
rasp_editor has been deprecated in favor of isaacsim.robot_setup.grasp_editor. P
lease update your code accordingly.
[19.493s] [ext: omni.isaac.occupancy_map-2.0.8] startup
2025-11-28T09:01:20Z [19,493ms] [Warning] [omni.isaac.occupancy_map] omni.isaac.
occupancy_map has been deprecated in favor of isaacsim.asset.gen.omap. Please up
date your code accordingly.
[19.519s] [ext: omni.isaac.occupancy_map.ui-2.0.8] startup
2025-11-28T09:01:20Z [19,523ms] [Warning] [omni.isaac.occupancy_map.ui] omni.isa
ac.occupancy_map.ui has been deprecated in favor of isaacsim.asset.gen.omap.ui.
Please update your code accordingly.
[19.550s] [ext: isaacsim.sensors.rtx.ui-1.1.6] startup
[19.578s] [ext: isaacsim.robot_setup.assembler-3.0.11] startup
[19.611s] [ext: isaacsim.robot_setup.xrdf_editor-3.1.11] startup
[19.642s] [ext: isaacsim.replicator.scene_blox-1.0.8] startup
2025-11-28T09:01:20Z [19,642ms] [Warning] [isaacsim.replicator.scene_blox] isacs
im.replicator.scene_blox has been deprecated since Isaac Sim 5.0.0.
[19.663s] [ext: isaacsim.replicator.synthetic_recorder-2.2.17] startup
[19.691s] [ext: isaacsim.robot.manipulators.ui-2.1.23] startup
[19.724s] [ext: omni.isaac.robot_assembler-2.0.8] startup
2025-11-28T09:01:21Z [19,723ms] [Warning] [omni.isaac.robot_assembler] omni.isaa
c.robot_assembler has been deprecated in favor of isaacsim.robot_setup.assembler
. Please update your code accordingly.
[19.749s] [ext: omni.isaac.robot_description_editor-3.0.5] startup
[19.749s] [ext: omni.isaac.scene_blox-1.0.6] startup
2025-11-28T09:01:21Z [19,749ms] [Warning] [omni.isaac.scene_blox] omni.isaac.sce
ne_blox has been deprecated in favor of isaacsim.replicator.scene_blox. Please u
pdate your code accordingly.
[19.770s] [ext: omni.isaac.synthetic_recorder-2.0.6] startup
2025-11-28T09:01:21Z [19,771ms] [Warning] [omni.isaac.synthetic_recorder] omni.i
saac.synthetic_recorder has been deprecated in favor of isaacsim.replicator.synt
hetic_recorder. Please update your code accordingly.
[19.792s] [ext: omni.isaac.throttling-2.0.7] startup
2025-11-28T09:01:21Z [19,791ms] [Warning] [omni.isaac.throttling] omni.isaac.thr
ottling has been deprecated in favor of isaacsim.core.throttling. Please update
your code accordingly.
2025-11-28T09:01:21Z [19,791ms] [Warning] [omni.isaac.throttling.throttling] omn
i.isaac.throttling.throttling has been deprecated in favor of isaacsim.core.thro
ttling.extension. Please update your code accordingly.
[19.817s] [ext: omni.kit.browser.asset-1.3.12] startup
[19.847s] [ext: omni.kit.mesh.raycast-107.0.1] startup
[19.875s] [ext: omni.kit.preferences.animation-1.2.0] startup
[19.905s] [ext: omni.graph.window.action-1.50.2] startup
[19.936s] [ext: omni.kit.property.collection-0.2.3] startup
[19.963s] [ext: omni.kit.property.layer-1.1.9] startup
[19.993s] [ext: omni.kit.stagerecorder.core-107.0.3] startup
[20.026s] [ext: omni.kit.search.files-1.0.4] startup
[20.052s] [ext: omni.kit.stage.copypaste-1.2.4] startup
[20.080s] [ext: omni.kit.browser.material-1.6.2] startup
[20.112s] [ext: omni.kit.window.title-1.1.7] startup
[20.138s] [ext: omni.kit.widgets.custom-1.0.13] startup
[20.197s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup
[20.235s] [ext: omni.kit.stage_column.payload-2.0.3] startup
[20.262s] [ext: omni.kit.tool.remove_unused.core-0.1.3] startup
[20.293s] [ext: omni.kit.window.material-1.7.2] startup
[20.341s] [ext: omni.kit.stage_column.variant-1.0.17] startup
[20.369s] [ext: omni.kit.variant.editor-107.5.3] startup
[20.443s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
[20.443s] [ext: omni.kit.tool.asset_exporter-4.0.5] startup
[20.473s] [ext: omni.services.facilities.base-1.0.4] startup
[20.499s] [ext: omni.kit.tool.remove_unused.controller-0.1.4] startup
[20.536s] [ext: omni.kit.usda_edit-1.1.18] startup
[20.589s] [ext: omni.kit.variant.presenter-107.0.0] startup
[20.624s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[20.625s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[20.625s] [ext: omni.services.core-1.9.0] startup
[21.083s] [ext: omni.kit.widget.live-2.1.11] startup
[21.110s] [ext: omni.kit.widget.calendar-1.0.9] startup
[21.142s] [ext: omni.services.transport.client.base-1.2.4] startup
[21.173s] [ext: omni.kit.viewport_widgets_manager-1.0.9] startup
[21.195s] [ext: omni.usdex.libs-1.2.2] startup
[21.221s] [ext: omni.scene.optimizer.core-107.3.12] startup
[21.313s] [ext: omni.kit.widget.cache_indicator-3.0.7] startup
2025-11-28T09:01:22Z [21,293ms] [Warning] [omni.kit.pipapi.pipapi] extension omn
i.kit.widget.cache_indicator-3.0.7 has a [python.pipapi] entry, but use_online_i
ndex=true is not set. It doesn't do anything and can be removed.
[21.504s] [ext: omni.kit.widget.extended_searchfield-1.0.31] startup
2025-11-28T09:01:22Z [21,485ms] [Warning] [omni.kit.widget.cache_indicator.cache
_state_menu] Unable to detect Omniverse Cache Server. File /isaac-sim/.nvidia-om
niverse/config/omniverse.toml is not found. Consider installing it for better IO
performance.
[21.562s] [ext: omni.services.client-0.5.3] startup
[21.591s] [ext: omni.kit.widget.schema_api-1.0.3] startup
[21.618s] [ext: omni.isaac.physics_inspector-0.1.11] startup
2025-11-28T09:01:22Z [21,618ms] [Warning] [omni.isaac.physics_inspector] omni.is
aac.physics_inspector has been deprecated.Replaced by Physics Visualization tool
s
[21.639s] [ext: omni.kit.converter.common-507.1.2] startup
[21.669s] [ext: omni.services.transport.server.base-1.1.1] startup
[21.699s] [ext: omni.physx.demos-107.3.26] startup
[21.796s] [ext: omni.asset_validator.core-1.1.6] startup
[21.919s] [ext: omni.kit.property.physx-107.3.26] startup
[21.980s] [ext: omni.services.facilities.monitoring.progress-0.2.4] startup
[22.025s] [ext: isaacsim.util.merge_mesh-2.0.15] startup
[22.056s] [ext: omni.services.transport.server.http-1.3.1] startup
[22.169s] [ext: omni.services.transport.client.http_async-1.4.0] startup
[22.202s] [ext: omni.kit.widget.timeline-107.0.1] startup
[22.243s] [ext: omni.physx.vehicle-107.3.26] startup
[22.333s] [ext: omni.kit.window.script_editor-2.0.1] startup
[22.368s] [ext: omni.asset_validator.ui-1.1.6] startup
[22.417s] [ext: omni.physx.asset_validator-107.3.26] startup
[22.456s] [ext: omni.services.convert.cad-507.0.2] startup
[22.494s] [ext: isaacsim.sensors.physx.ui-2.3.0] startup
[22.521s] [ext: omni.physx.camera-107.3.26] startup
[22.555s] [ext: omni.physx.cct-107.3.26] startup
[22.592s] [ext: omni.physx.graph-107.3.26] startup
[22.641s] [ext: omni.physx.supportui-107.3.26] startup
[22.690s] [ext: omni.physx.telemetry-107.3.26] startup
[22.715s] [ext: omni.kit.converter.dgn_core-510.1.0] startup
[22.800s] [ext: omni.isaac.range_sensor.ui-2.0.5] startup
2025-11-28T09:01:24Z [22,804ms] [Warning] [omni.isaac.range_sensor.ui] omni.isaa
c.range_sensor.ui has been deprecated in favor of isaacsim.sensors.physx.ui. Ple
ase update your code accordingly.
2025-11-28T09:01:24Z [22,804ms] [Warning] [omni.isaac.range_sensor.ui.menu] omni
.isaac.range_sensor.ui.menu has been deprecated in favor of isaacsim.sensors.phy
sx.ui.menu. Please update your code accordingly.
[22.825s] [ext: omni.kit.converter.hoops_core-509.1.0] startup
[22.875s] [ext: omni.kit.window.usd_paths-1.0.8] startup
[22.909s] [ext: omni.kit.converter.jt_core-508.1.0] startup
[22.968s] [ext: omni.services.facilities.monitoring.metrics-0.3.0] startup
[23.038s] [ext: omni.physx.bundle-107.3.26] startup
[23.038s] [ext: omni.kit.converter.dgn-509.1.0] startup
[23.076s] [ext: isaacsim.sensors.physx.examples-2.2.15] startup
[23.107s] [ext: omni.kit.converter.hoops-509.1.0] startup
[23.137s] [ext: isaacsim.replicator.grasping-1.0.9] startup
[24.337s] [ext: omni.kit.converter.jt-508.1.0] startup
[24.371s] [ext: omni.services.convert.asset-508.0.2] startup
[24.419s] [ext: omni.kit.quicklayout-1.0.8] startup
[24.443s] [ext: omni.kit.window.commands-0.2.9] startup
[24.474s] [ext: omni.isaac.range_sensor.examples-2.0.6] startup
2025-11-28T09:01:25Z [24,487ms] [Warning] [omni.isaac.range_sensor.examples] omn
i.isaac.range_sensor.examples has been deprecated in favor of isaacsim.sensors.p
hysx.examples. Please update your code accordingly.
2025-11-28T09:01:25Z [24,487ms] [Warning] [omni.isaac.range_sensor.examples.lida
r_info] omni.isaac.range_sensor.examples.lidar_info has been deprecated in favor
of isaacsim.sensors.physx.examples.lidar_info. Please update your code accordin
gly.
2025-11-28T09:01:25Z [24,487ms] [Warning] [omni.isaac.range_sensor.examples.gene
ric_info] omni.isaac.range_sensor.examples.generic_info has been deprecated in f
avor of isaacsim.sensors.physx.examples.generic_info. Please update your code ac
cordingly.
[24.509s] [ext: isaacsim.util.camera_inspector-1.0.16] startup
[24.540s] [ext: isaacsim.replicator.grasping.ui-1.0.8] startup
[24.576s] [ext: isaacsim.asset.validation-1.1.0] startup
[24.628s] [ext: omni.kit.converter.cad-205.0.0] startup
[24.628s] [ext: omni.kit.window.stats-0.1.7] startup
[24.661s] [ext: isaacsim.app.setup-1.6.0] startup
[24.688s] Isaac Sim Full Version: 5.1.0-rc.19
[24.688s] [ext: omni.kit.profiler.window-2.3.5] startup
[24.766s] [ext: isaacsim.exp.full-5.1.0] startup
[25.095s] [ext: isaacsim.ros2.bridge-4.12.4] startup
[25.175s] Attempting to load system rclpy
[25.176s] Could not import system rclpy: No module named 'rclpy'
[25.176s] Attempting to load internal rclpy for ROS Distro: jazzy
[25.248s] rclpy loaded
2025-11-28T09:01:26Z [25,470ms] [Warning] [omni.fabric.plugin] Warning: attribut
e resolution not found for bucket id b
[25.627s] app ready
[27.658s] Isaac Sim Full App is loaded.
2025-11-28T09:03:49Z [168,297ms] [Warning] [omni.timeline.plugin] Deprecated: di
rect use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Pytho
n: omni.timeline.get_timeline_interface) instead.
2025-11-28T09:03:51Z [170,658ms] [Warning] [carb] Client gpu.foundation.plugin h
as acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Conside
r accessing this interface with carb::getCachedInterface() (Performance warning)
2025-11-28T09:04:21Z [200,437ms] [Warning] [isaacsim.ros2.bridge.impl.camera_inf
o_utils] ROS2 CameraInfo support for lens distortion models beyond opencvPinhole
and opencvFisheye is deprecated as of Isaac Sim 5.0, and will be removed in a f
uture release.
2025-11-28T09:04:21Z [200,437ms] [Warning] [isaacsim.ros2.bridge.impl.camera_inf
o_utils] Unsupported physical distortion model 'None'. Using plumb_bob with defa
ult coefficients.
2025-11-28T09:04:21Z [200,437ms] [Warning] [isaacsim.ros2.bridge.impl.camera_inf
o_utils] Forcing fy to fx (854.5167406926195 != 1108.5125019853992) when computi
ng CameraInfo, as renderer assumes square pixels.
2025-11-28T09:04:22Z [200,737ms] [Warning] [omni.timeline.plugin] Deprecated: di
rect use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Pytho
n: omni.timeline.get_timeline_interface) instead.
^[[A^[[A^[[A^[[A^[[A^[[A^[[A^[[A
isaac_sim()
isaac_sim() {
xhost +
local CONTAINER_NAME="isaac-sim"
# --- 1. Handle the "--rebuild" option first ---
if [[ "$1" == "--rebuild" ]]; then
echo "INFO: --rebuild option detected."
local existing_container=$(docker ps -a --filter "name=${CONTAINER_NAME}" --format "{{.ID}}")
if [ -n "$existing_container" ]; then
echo "INFO: Removing existing container '${CONTAINER_NAME}'..."
docker rm -f ${CONTAINER_NAME}
fi
fi
# --- 2. Check the status of the container ---
local RUNNING_CONTAINER=$(docker ps --filter "name=${CONTAINER_NAME}" --format "{{.ID}}")
local EXISTING_CONTAINER=$(docker ps -a --filter "name=${CONTAINER_NAME}" --format "{{.ID}}")
# --- 3. Main Logic: Run, Start, or Attach
if [ -z "$EXISTING_CONTAINER" ]; then
# STATE: Container does not exist ("if not built, then run")
echo "INFO: No container found. Creating and starting a new persistent session named '${CONTAINER_NAME}'..."
# 'docker run -d -it' creates and starts the container in the background.
# NOTE: The '--rm' flag has been REMOVED to make the container persistent.
docker run --name ${CONTAINER_NAME} --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
-e "PRIVACY_CONSENT=Y" \
-v ~/docker/isaac-sim/cache/main:/isaac-sim/.cache:rw \
-v ~/workspaces/isaac_sim_ws:/workspace/isaac_sim_ws:rw \
-v ~/docker/isaac-sim/cache/computecache:/isaac-sim/.nv/ComputeCache:rw \
-v ~/docker/isaac-sim/logs:/isaac-sim/.nvidia-omniverse/logs:rw \
-v ~/docker/isaac-sim/config:/isaac-sim/.nvidia-omniverse/config:rw \
-v ~/docker/isaac-sim/data:/isaac-sim/.local/share/ov/data:rw \
-v ~/docker/isaac-sim/pkg:/isaac-sim/.local/share/ov/pkg:rw \
-u 1234:1234 \
-e ROS_DOMAIN_ID=30 \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-e TERM=xterm-256color \
nvcr.io/nvidia/isaac-sim:5.1.0
elif [ -z "$RUNNING_CONTAINER" ]; then
# STATE: Container exists but is stopped ("if built, then start")
echo "INFO: Found stopped session. Starting '${CONTAINER_NAME}'..."
docker start ${CONTAINER_NAME}
else
# STATE: Container is already running.
echo "INFO: Found running session '${CONTAINER_NAME}'."
fi
# --- 4. Final Step: Attach a shell ---
# Now that the container is guaranteed to be running, 'exec' into it.
echo "INFO: Attaching a new terminal..."
docker exec -it ${CONTAINER_NAME} /bin/bash
}
isaac_ros()
function isaac_ros(){
# --- CONFIGURATION ---
# The name for your persistent container session
local CONTAINER_NAME="my_isaac_session"
# The name of the new image you just built
local IMAGE_NAME="my-isaac-ros-app:latest"
# The absolute path to your ROS workspace on your HOST machine
local HOST_WORKSPACE_PATH="/workspaces/isaac-ros_dev"
# --- END CONFIGURATION ---
if [ "$1" == "--rebuild" ]; then
echo "INFO: --rebuild option detected."
# Check if a container with that name exists at all (running or stopped)
local EXISTING_CONTAINER=$(docker ps -a --filter "name=${CONTAINER_NAME}" --format "{{.ID}}")
if [ -n "$EXISTING_CONTAINER" ]; then
echo "INFO: Removing existing container '${CONTAINER_NAME}'..."
docker rm -f ${CONTAINER_NAME} > /dev/null
fi
fi
# Check if a container with that name exists at all (running or stopped)
local EXISTING_CONTAINER=$(docker ps -a --filter "name=${CONTAINER_NAME}" --format "{{.ID}}")
# Check if a container with that name is currently running
local RUNNING_CONTAINER=$(docker ps --filter "name=${CONTAINER_NAME}" --format "{{.ID}}")
if [ -z "$EXISTING_CONTAINER" ]; then
# CASE 1: The container does not exist at all.
echo "INFO: No Isaac ROS session found. Creating a new persistent session from '${IMAGE_NAME}'..."
# Create and start the container in the background (-d)
docker run -it -d \
--name ${CONTAINER_NAME} \
--privileged \
--network host \
--ipc=host \
--runtime nvidia \
--workdir /workspaces/isaac_ros-dev\
-v /home/di/workspaces/isaac_ros_ws:/workspaces/isaac_ros-dev \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-e ROS_DOMAIN_ID=30 \
-v /home/di/.Xauthority:/home/admin/.Xauthority:rw \
-v /home/di/.ssh:/home/admin/.ssh:ro \
-e DISPLAY \
-e ISAAC_ROS_WS=/workspaces/isaac_ros-dev \
-e TERM=xterm-256color \
-e COLORTERM=truecolor \
-e FORCE_COLOR=true \
${IMAGE_NAME}
elif [ -z "$RUNNING_CONTAINER" ]; then
# CASE 2: The container exists, but it is stopped.
echo "INFO: Found a stopped session. Restarting it..."
docker start ${CONTAINER_NAME} > /dev/null
else
# CASE 3: The container already exists and is running.
echo "INFO: Found a running session."
fi
# By this point, the container is guaranteed to be running.
echo "INFO: Attaching a new terminal to the session '${CONTAINER_NAME}'..."
docker exec -it ${CONTAINER_NAME} /bin/bash
}