Isaac Manipulator Pick and Place tutorial with Isaac Sim not working

[pastoriomarco]

Hi, I'm having issues with the pick and place example since Isaac ROS 4.1, and now in 4.2 too.
I'm on Jetson Thor, Jetpack 7.1.

I already applied the fix for cumotion and it works fine in pose to pose example.

Now following the Pick and Place tutorial with Isaac SIM the whole pipeline seems to load but all commands fail, see here:

pick_place.txt

Here's the sim launch params file (I tried with pose_estimation_input_qos at DEFAULT and SENSOR_DATA):

sim_launch_params.yaml

Also, when trying to use nvblox the mt-container crashes on startup (changed only enable_nvblox on params file):

pick_place_nvblox.txt

It all worked pretty well in Isaac ROS 4.0, is there something I'm missing on the config?

[swapnesh-wani-nvidia]

Hello, thank you for providing logs, for the first case(without nvblox) the logs are truncated and I don't have enough info to check when it is failing. Is it possible for you to also record a video of what is happening in Isaac Sim?

For the case with nvblox, is Isaac Sim also crashing? Which GPU are you using to run this workflow?

[pastoriomarco]

Hi,
here's a video: https://youtu.be/vM1agFjYaXY

And here's the log of the left terminal in the video:

no_nvblox_pick_place.txt

Isaac ROS pipeline doesn't crash if I don't enable nvblox, it just doesn't seem to execute the requested action. It's running on Jetson Thor Developer Kit with JP7.1.

Isaac Sim doesn't crash either even when using nvblox, it's running fine and it actually can keep running and execute the pose to pose including nvblox if I start it from isaac ros container.

Isaac Sim version is 5.1 and the machines running it are on ubuntu 24.04 with cuda 13.1 and driver 590.48.01, one machine has RTX 4080, one a 4070 and one a 3060. On the same machines the Isaac Manipulator examples on Isaac ROS 4.0 were running fine.