IsaacSim Python script with action graph - action graph extension not available to view and edit graphs #274
Description
Description
Hello.
I am noticing an interesting issue, for which I have run out of ideas on how to solve and would like too see if I am missing something. So, if I take, for example, python script from source/standalone_examples/api/isaacsim.ros2.bridge/clock.py and modify it, so that I can see the interface and check the created graph:
# SPDX-FileCopyrightText: Copyright (c) 2020-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import time
from isaacsim import SimulationApp
# Example ROS2 bridge sample showing rclpy and rosclock interaction
simulation_app = SimulationApp({"renderer": "RaytracedLighting", "headless": False})
import omni.graph.core as og
from isaacsim.core.api import SimulationContext
from isaacsim.core.utils.extensions import enable_extension
# enable ROS2 bridge extension
enable_extension("isaacsim.ros2.bridge")
simulation_app.update()
# Note that this is not the system level rclpy, but one compiled for omniverse
import rclpy
from rosgraph_msgs.msg import Clock
rclpy.init()
clock_topic = "sim_time"
manual_clock_topic = "manual_time"
# Creating a action graph with ROS component nodes
try:
og.Controller.edit(
{"graph_path": "/ActionGraph", "evaluator_name": "execution"},
{
og.Controller.Keys.CREATE_NODES: [
("ReadSimTime", "isaacsim.core.nodes.IsaacReadSimulationTime"),
("OnPlaybackTick", "omni.graph.action.OnPlaybackTick"),
("PublishClock", "isaacsim.ros2.bridge.ROS2PublishClock"),
("OnImpulseEvent", "omni.graph.action.OnImpulseEvent"),
("PublishManualClock", "isaacsim.ros2.bridge.ROS2PublishClock"),
],
og.Controller.Keys.CONNECT: [
# Connecting execution of OnPlaybackTick node to PublishClock to automatically publish each frame
("OnPlaybackTick.outputs:tick", "PublishClock.inputs:execIn"),
# Connecting execution of OnImpulseEvent node to PublishManualClock so it will only publish when an impulse event is triggered
("OnImpulseEvent.outputs:execOut", "PublishManualClock.inputs:execIn"),
# Connecting simulationTime data of ReadSimTime to the clock publisher nodes
("ReadSimTime.outputs:simulationTime", "PublishClock.inputs:timeStamp"),
("ReadSimTime.outputs:simulationTime", "PublishManualClock.inputs:timeStamp"),
],
og.Controller.Keys.SET_VALUES: [
# Assigning topic names to clock publishers
("PublishClock.inputs:topicName", clock_topic),
("PublishManualClock.inputs:topicName", manual_clock_topic),
],
},
)
except Exception as e:
print(e)
simulation_app.update()
simulation_app.update()
# Define ROS2 callbacks
def sim_clock_callback(data):
print("sim time:", data.clock)
def manual_clock_callback(data):
print("manual stepped sim time:", data.clock)
# Create rclpy ndoe
node = rclpy.create_node("isaac_sim_clock")
# create subscribers
sim_clock_sub = node.create_subscription(Clock, clock_topic, sim_clock_callback, 1)
manual_clock_sub = node.create_subscription(Clock, manual_clock_topic, manual_clock_callback, 1)
time.sleep(1.0)
simulation_context = SimulationContext(physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, stage_units_in_meters=1.0)
# need to initialize physics getting any articulation..etc
simulation_context.initialize_physics()
simulation_context.play()
# perform a fixed number of steps with fixed step size
for frame in range(20):
# publish manual clock every 10 frames
if frame % 10 == 0:
og.Controller.set(og.Controller.attribute("/ActionGraph/OnImpulseEvent.state:enableImpulse"), True)
simulation_context.render() # This updates rendering/app loop which calls the sim clock
simulation_context.step(render=False) # runs with a non-realtime clock
rclpy.spin_once(node, timeout_sec=0.0) # Spin node once
# This sleep is to make this sample run a bit more deterministically for the subscriber callback
# In general this sleep is not needed
time.sleep(0.1)
# perform a fixed number of steps with realtime clock
for frame in range(500):
# publish manual clock every 10 frames
if frame % 10 == 0:
og.Controller.set(og.Controller.attribute("/ActionGraph/OnImpulseEvent.state:enableImpulse"), True)
simulation_app.update() # runs with a realtime clock
rclpy.spin_once(node, timeout_sec=0.0) # Spin node once
# This sleep is to make this sample run a bit more deterministically for the subscriber callback
# In general this sleep is not needed
time.sleep(0.1)
# shutdown
rclpy.shutdown()
simulation_context.stop()
simulation_app.close()I can see, that the Action Graph icon is not present, also Action Graph editor window is not present. In if I launch ./issac-sim.sh, the Action Graph editor is present. I am working on a project that requires use of external python packages and I have a pyhton script written that places some sensors and creates ROS2 publishing graphs for them, but it seems like I don't have the extension available in GUI and publishing is also not done from this created graph.
Is this my config issue or is it something else?
Thank you in advance.
Isaac Sim version
5.1.0
Operating System (OS)
Ubuntu 24.04.03
GPU Name
RTX 4000 Ada Generation (20 GB)
GPU Driver and CUDA versions
Driver 580.95.05 with CUDA 13.0, installed from .run file from Nvidia regestry.
Logs
dominik@murkoS30:~/isaacsim/source/standalone_examples/api/isaacsim.ros2.bridge$ ISAACSIM_PYTHON clock.py
Starting kit application with the following args: ['/home/dominik/isaacsim/_build/linux-x86_64/release/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/dominik/isaacsim/_build/linux-x86_64/release/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/home/dominik/isaacsim/_build/linux-x86_64/release/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/dominik/isaacsim/_build/linux-x86_64/release/exts', '--ext-folder', '/home/dominik/isaacsim/_build/linux-x86_64/release/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=24', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=24', '--portable']
Passing the following args to the base kit application: []
[Info] [carb] Logging to file: /home/dominik/packman-repo/chk/kit-kernel/107.3.3+isaac.229672.69cbf6ad.gl.manylinux_2_35_x86_64.release/logs/Kit/Isaac-Sim Python/5.1/kit_20251026_134910.log
2025-10-26T12:49:10Z [0ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/dominik/packman-repo/chk/kit-kernel/107.3.3+isaac.229672.69cbf6ad.gl.manylinux_2_35_x86_64.release/data/Kit/Isaac-Sim Python/5.1/f47b69c7-31c9-4b51-3d966393-3469d158.dmp'
2025-10-26T12:49:10Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/dominik/packman-repo/chk/kit-kernel/107.3.3+isaac.229672.69cbf6ad.gl.manylinux_2_35_x86_64.release/data/Kit/Isaac-Sim Python/5.1/d30ff120-4920-446d-c32b1394-be11cbb5.dmp'
2025-10-26T12:49:10Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/dominik/packman-repo/chk/kit-kernel/107.3.3+isaac.229672.69cbf6ad.gl.manylinux_2_35_x86_64.release/data/Kit/Isaac-Sim Python/5.1/16cb2239-610f-4e23-073f7882-58430058.dmp'
2025-10-26T12:49:10Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/dominik/packman-repo/chk/kit-kernel/107.3.3+isaac.229672.69cbf6ad.gl.manylinux_2_35_x86_64.release/data/Kit/Isaac-Sim Python/5.1/1fe4320e-1390-4f43-475c1098-2bab70bf.dmp'
2025-10-26T12:49:10Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/dominik/packman-repo/chk/kit-kernel/107.3.3+isaac.229672.69cbf6ad.gl.manylinux_2_35_x86_64.release/data/Kit/Isaac-Sim Python/5.1/9529787f-d250-4075-583697a5-f9891e80.dmp'
2025-10-26T12:49:10Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/dominik/packman-repo/chk/kit-kernel/107.3.3+isaac.229672.69cbf6ad.gl.manylinux_2_35_x86_64.release/data/Kit/Isaac-Sim Python/5.1/a17bb1d4-e9cb-4fd5-2e706b89-00fd1b3e.dmp'
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|---------------------------------------------------------------------------------------------|
| Driver Version: 580.95.05 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA RTX 4000 Ada Generation | Yes: 0 | | 20721 MB | 10de | 0 |
| | | | | | 27b2 | bae0eff5.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 24.04.3 LTS (Noble Numbat) ubuntu, Version: 24.04.3, Kernel: 6.14.0-33-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101011 (1.21.1.11)
| Processor: AMD Ryzen 9 7900X 12-Core Processor
| Cores: 12 | Logical Cores: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 128446 | Free Memory: 122028
| Total Page/Swap (MB): 8191 | Free Page/Swap: 8175
|---------------------------------------------------------------------------------------------|
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[3.265s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
[3.266s] [ext: omni.kit.window.property-1.12.1] startup
[3.268s] [ext: omni.kit.window.content_browser-3.1.3] startup
[3.277s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[3.278s] [ext: omni.kit.property.usd-4.5.12] startup
[3.286s] [ext: omni.graph.ui_nodes-1.50.5] startup
[3.289s] [ext: omni.videoencoding-0.1.2] startup
[3.291s] [ext: omni.kit.window.material_graph-1.9.1] startup
[3.300s] [ext: omni.warp-1.8.2] startup
[3.305s] [ext: isaacsim.core.api-4.8.0] startup
[3.330s] [ext: omni.graph.scriptnode-1.50.0] startup
[3.341s] [ext: isaacsim.test.docstring-1.1.0] startup
[3.354s] [ext: isaacsim.core.experimental.utils-0.3.0] startup
[3.376s] [ext: omni.replicator.core-1.12.27] startup
2025-10-26T12:49:14Z [3,386ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
Warp 1.8.2 initialized:
CUDA Toolkit 12.8, Driver 13.0
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA RTX 4000 Ada Generation" (20 GiB, sm_89, mempool enabled)
Kernel cache:
/home/dominik/.cache/warp/1.8.2
2025-10-26T12:49:14Z [3,475ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
2025-10-26T12:49:14Z [3,475ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
2025-10-26T12:49:14Z [3,476ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
[3.491s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
[3.532s] [ext: omni.kit.window.extensions-1.4.27] startup
[3.543s] [ext: isaacsim.core.experimental.objects-0.4.0] startup
[3.555s] [ext: omni.ui_query-1.1.8] startup
[3.567s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
[3.596s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
[3.660s] [ext: omni.kit.ui_test-1.3.7] startup
[3.689s] [ext: omni.graph.visualization.nodes-2.1.3] startup
[3.856s] [ext: isaacsim.robot_motion.lula-4.0.8] startup
[3.879s] [ext: isaacsim.core.nodes-3.4.3] 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.
[3.950s] [ext: isaacsim.gui.components-1.2.1] startup
[3.968s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup
[3.995s] [ext: isaacsim.robot.manipulators-3.3.6] startup
[4.009s] [ext: isaacsim.core.experimental.materials-0.4.0] startup
[4.019s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup
[4.022s] [ext: isaacsim.cortex.framework-1.0.12] startup
[4.029s] [ext: isaacsim.cortex.behaviors-2.0.14] startup
[4.029s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup
2025-10-26T12:49:14Z [4,020ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
2025-10-26T12:49:14Z [4,021ms] [Warning] [omni.isaac.cortex.sample_behaviors] omni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.cortex.behaviors. Please update your code accordingly.
[4.037s] [ext: omni.kit.widget.zoombar-1.0.6] startup
[4.042s] [ext: isaacsim.gui.content_browser-0.1.11] startup
[4.051s] [ext: omni.kit.browser.core-2.3.13] startup
[4.058s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
[4.060s] [ext: omni.kit.widget.prompt-1.0.7] startup
[4.061s] [ext: omni.kit.usd.collect-2.4.5] startup
[4.068s] [ext: omni.kit.browser.folder.core-1.10.9] startup
[4.087s] [ext: omni.kit.window.stage-2.6.1] startup
[4.093s] [ext: omni.kit.usdz_export-1.0.9] startup
[4.098s] [ext: omni.kit.tool.collect-2.2.18] startup
[4.101s] [ext: omni.kit.menu.stage-1.2.7] startup
[4.102s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
[4.108s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
[4.117s] [ext: isaacsim.examples.browser-0.2.1] startup
[4.122s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup
[4.185s] [ext: omni.isaac.wheeled_robots-3.0.7] startup
2025-10-26T12:49:15Z [4,173ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,174ms] [Warning] [omni.isaac.wheeled_robots.controllers] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,174ms] [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.
2025-10-26T12:49:15Z [4,174ms] [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.
2025-10-26T12:49:15Z [4,174ms] [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.
2025-10-26T12:49:15Z [4,174ms] [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.
2025-10-26T12:49:15Z [4,174ms] [Warning] [omni.isaac.wheeled_robots.controllers.stanley_control] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,174ms] [Warning] [omni.isaac.wheeled_robots.controllers.wheel_base_pose_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,175ms] [Warning] [omni.isaac.wheeled_robots.impl] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,175ms] [Warning] [omni.isaac.wheeled_robots.robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,175ms] [Warning] [omni.isaac.wheeled_robots.robots.holonomic_robot_usd_setup] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,175ms] [Warning] [omni.isaac.wheeled_robots.robots.wheeled_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
[4.188s] [ext: isaacsim.simulation_app-2.12.2] startup
[4.190s] [ext: omni.isaac.franka-1.0.7] startup
2025-10-26T12:49:15Z [4,177ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
2025-10-26T12:49:15Z [4,178ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
2025-10-26T12:49:15Z [4,198ms] [Warning] [omni.isaac.franka.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
[4.211s] [ext: omni.isaac.kit-2.0.6] startup
2025-10-26T12:49:15Z [4,200ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
[4.213s] [ext: omni.kit.selection-0.1.6] startup
[4.214s] [ext: omni.isaac.lula-4.0.6] startup
2025-10-26T12:49:15Z [4,202ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
[4.215s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup
[4.217s] [ext: isaacsim.asset.browser-1.3.23] startup
[4.263s] [ext: omni.kit.viewport.actions-107.0.2] startup
[4.268s] [ext: isaacsim.gui.menu-2.4.4] startup
[4.272s] [ext: omni.isaac.manipulators-3.0.7] startup
2025-10-26T12:49:15Z [4,261ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,261ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,261ms] [Warning] [omni.isaac.manipulators.controllers.pick_place_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,262ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,263ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,263ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,264ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,264ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,264ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
2025-10-26T12:49:15Z [4,264ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
[4.278s] [ext: omni.isaac.lula_test_widget-1.0.6] startup
2025-10-26T12:49:15Z [4,266ms] [Warning] [omni.isaac.lula_test_widget] omni.isaac.lula_test_widget has been deprecated in favor of isaacsim.robot_motion.lula_test_widget. Please update your code accordingly.
[4.279s] [ext: omni.isaac.asset_browser-1.0.6] startup
2025-10-26T12:49:15Z [4,268ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
[4.281s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
[4.284s] [ext: omni.isaac.menu-1.0.6] startup
2025-10-26T12:49:15Z [4,272ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
[4.286s] [ext: omni.isaac.motion_generation-8.0.7] startup
2025-10-26T12:49:15Z [4,274ms] [Warning] [omni.isaac.motion_generation] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,275ms] [Warning] [omni.isaac.motion_generation.articulation_kinematics_solver] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.articulation_motion_policy] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.articulation_trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.kinematics_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.lula] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.lula.kinematics] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.lula.motion_policies] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.lula.path_planners] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.lula.trajectory_generator] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,276ms] [Warning] [omni.isaac.motion_generation.motion_policy_controller] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,277ms] [Warning] [omni.isaac.motion_generation.motion_policy_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,277ms] [Warning] [omni.isaac.motion_generation.path_planner_visualizer] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,277ms] [Warning] [omni.isaac.motion_generation.path_planning_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,277ms] [Warning] [omni.isaac.motion_generation.trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
2025-10-26T12:49:15Z [4,277ms] [Warning] [omni.isaac.motion_generation.world_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
[4.290s] [ext: omni.isaac.assets_check-0.3.13] startup
2025-10-26T12:49:15Z [4,278ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
[4.291s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup
[4.301s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
[4.306s] [ext: omni.sensors.nv.common-3.0.0] startup
[4.316s] [ext: isaacsim.sensors.physics-0.4.3] startup
[4.320s] [ext: omni.sensors.net-1.0.0] startup
[4.323s] [ext: omni.isaac.nucleus-1.0.6] startup
2025-10-26T12:49:15Z [4,310ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
2025-10-26T12:49:15Z [4,311ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
[4.324s] [ext: omni.sensors.nv.materials-2.0.0] startup
[4.330s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
[4.333s] [ext: omni.sensors.nv.wpm-3.0.0] startup
[4.335s] [ext: omni.sensors.nv.lidar-3.0.0] startup
[4.341s] [ext: isaacsim.util.debug_draw-3.1.0] startup
[4.344s] [ext: omni.sensors.nv.radar-3.0.0] startup
[4.348s] [ext: omni.sensors.nv.ids-2.0.0] startup
[4.349s] [ext: isaacsim.core.cloner-1.4.10] startup
[4.351s] [ext: isaacsim.sensors.physx-2.3.2] startup
[4.355s] [ext: isaacsim.sensors.rtx-15.8.4] startup
[4.363s] [ext: isaacsim.sensors.camera-1.3.6] startup
[4.371s] [ext: omni.isaac.quadruped-3.0.7] startup
2025-10-26T12:49:15Z [4,360ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
[4.373s] [ext: omni.isaac.cloner-1.0.7] startup
2025-10-26T12:49:15Z [4,362ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
[4.375s] [ext: omni.isaac.range_sensor-4.0.6] startup
2025-10-26T12:49:15Z [4,366ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly.
2025-10-26T12:49:15Z [4,366ms] [Warning] [omni.isaac.range_sensor.commands] omni.isaac.range_sensor.commands has been deprecated in favor of isaacsim.sensors.physx.commands. Please update your code accordingly.
[4.379s] [ext: omni.isaac.sensor-13.0.7] startup
2025-10-26T12:49:15Z [4,368ms] [Warning] [omni.isaac.sensor] omni.isaac.sensor has been deprecated in favor of isaacsim.sensors.camera, isaacsim.sensors.physics, isaacsim.sensors.physx, and isaacsim.sensors.rtx. Please update your code accordingly.
2025-10-26T12:49:15Z [4,368ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
2025-10-26T12:49:15Z [4,369ms] [Warning] [omni.isaac.sensor.camera_view] omni.isaac.sensor.camera_view has been deprecated in favor of isaacsim.sensors.camera.camera_view. Please update your code accordingly.
2025-10-26T12:49:15Z [4,370ms] [Warning] [omni.isaac.sensor.commands] omni.isaac.sensor.commands has been deprecated in favor of isaacsim.sensors.physics.commands, isaacsim.sensors.physx.commands, and isaacsim.sensors.rtx.commands. Please update your code accordingly.
2025-10-26T12:49:15Z [4,370ms] [Warning] [omni.isaac.sensor.contact_sensor] omni.isaac.sensor.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.contact_sensor. Please update your code accordingly.
2025-10-26T12:49:15Z [4,370ms] [Warning] [omni.isaac.sensor.imu_sensor] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.imu_sensor. Please update your code accordingly.
2025-10-26T12:49:15Z [4,371ms] [Warning] [omni.isaac.sensor.lidar_rtx] omni.isaac.sensor.lidar_rtx has been deprecated in favor of isaacsim.sensors.rtx.lidar_rtx. Please update your code accordingly.
2025-10-26T12:49:15Z [4,372ms] [Warning] [omni.isaac.sensor.rotating_lidar_physX] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physix.rotating_lidar_physX. Please update your code accordingly.
2025-10-26T12:49:15Z [4,372ms] [Warning] [omni.isaac.sensor.scripts.samples.contact_sensor] omni.isaac.sensor.scripts.samples.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.contact_sensor. Please update your code accordingly.
2025-10-26T12:49:15Z [4,372ms] [Warning] [omni.isaac.sensor.scripts.samples.imu_sensor] omni.isaac.sensor.scripts.samples.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.imu_sensor. Please update your code accordingly.
2025-10-26T12:49:15Z [4,373ms] [Warning] [omni.isaac.sensor.scripts.samples.lightbeam_sensor] omni.isaac.sensor.scripts.samples.lightbeam_sensor has been deprecated in favor of isaacsim.sensors.physx.scripts.samples.lightbeam_sensor. Please update your code accordingly.
[4.386s] [ext: omni.kit.menu.create-2.0.1] startup
[4.389s] [ext: omni.kit.widget.toolbar-2.0.1] startup
[4.399s] [ext: omni.kit.manipulator.transform-107.0.0] startup
[4.403s] [ext: omni.isaac.core-4.0.7] startup
2025-10-26T12:49:15Z [4,392ms] [Warning] [omni.isaac.core.physics_context.physics_context] omni.isaac.core.physics_context.physics_context has been deprecated in favor of isaacsim.core.api.physics_context.physics_context. Please update your code accordingly.
2025-10-26T12:49:15Z [4,392ms] [Warning] [omni.isaac.core.simulation_context.simulation_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.
2025-10-26T12:49:15Z [4,392ms] [Warning] [omni.isaac.core.world.world] omni.isaac.core.world.world has been deprecated in favor of isaacsim.core.api.world.world. Please update your code accordingly.
2025-10-26T12:49:15Z [4,392ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
[4.405s] [ext: omni.kit.scripting-107.3.2] startup
[4.410s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
[4.414s] [ext: omni.kit.manipulator.selector-1.1.3] startup
[4.415s] [ext: isaacsim.app.about-2.0.11] startup
[4.420s] [ext: isaacsim.replicator.behavior-1.1.16] startup
[4.421s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[4.423s] [ext: omni.isaac.window.about-2.0.7] startup
2025-10-26T12:49:15Z [4,412ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
2025-10-26T12:49:15Z [4,412ms] [Warning] [omni.isaac.window.about.about] omni.isaac.window.about.about has been deprecated in favor of isaacsim.app.about.about. Please update your code accordingly.
[4.425s] [ext: omni.fabric.commands-1.1.6] startup
[4.427s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
[4.432s] [ext: omni.kit.property.audio-1.0.16] startup
[4.434s] [ext: omni.kit.property.camera-1.0.10] startup
[4.436s] [ext: omni.kit.property.geometry-2.0.4] startup
[4.439s] [ext: omni.hydra.scene_api-0.1.2] startup
[4.443s] [ext: omni.kit.property.light-1.0.12] startup
[4.465s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
[4.467s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[4.469s] [ext: omni.kit.property.material-1.11.9] startup
[4.473s] [ext: omni.kit.property.render-1.2.1] startup
[4.475s] [ext: omni.kit.property.transform-1.5.13] startup
[4.480s] [ext: isaacsim.gui.property-1.1.3] startup
[4.481s] [ext: omni.kit.manipulator.camera-106.0.4] startup
[4.485s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[4.485s] [ext: omni.isaac.surface_gripper-2.0.6] startup
2025-10-26T12:49:15Z [4,473ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
[4.486s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[4.488s] [ext: omni.kit.property.bundle-1.4.1] startup
[4.490s] [ext: omni.kit.property.isaac-1.0.6] startup
2025-10-26T12:49:15Z [4,478ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
2025-10-26T12:49:15Z [4,478ms] [Warning] [omni.kit.property.isaac.widgets] omni.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.property.widgets. Please update your code accordingly.
[4.491s] [ext: omni.isaac.universal_robots-1.0.6] startup
2025-10-26T12:49:15Z [4,479ms] [Warning] [omni.isaac.universal_robots] omni.isaac.universal_robots has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,479ms] [Warning] [omni.isaac.universal_robots.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
2025-10-26T12:49:15Z [4,480ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
[4.493s] [ext: omni.isaac.core_nodes-2.0.6] startup
2025-10-26T12:49:15Z [4,482ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly.
[4.496s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
[4.502s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
[4.505s] [ext: isaacsim.replicator.writers-1.0.17] startup
[4.516s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
[4.520s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[4.528s] [ext: omni.kit.window.console-1.1.4] startup
[4.531s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup
[4.533s] [ext: isaacsim.replicator.examples-1.3.6] startup
[4.535s] [ext: omni.ocio-0.1.1] startup
[4.539s] [ext: omni.rtx.window.settings-0.6.19] startup
[4.551s] [ext: omni.kit.window.status_bar-0.1.9] startup
[4.560s] [ext: omni.kit.window.toolbar-2.0.0] startup
[4.564s] [ext: omni.replicator.isaac-2.0.8] startup
2025-10-26T12:49:15Z [4,552ms] [Warning] [omni.replicator.isaac] omni.replicator.isaac has been deprecated in favor of isaacsim.replicator.domain_randomization, isaacsim.replicator.examples, isaacsim.replicator.writers. Please update your code accordingly.
[4.565s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
[4.580s] [ext: omni.rtx.settings.core-0.6.5] startup
[4.585s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
[4.596s] [ext: omni.isaac.utils-2.0.6] startup
[4.597s] [ext: semantics.schema.editor-2.0.2] startup
[4.601s] [ext: omni.kit.ui.actions-1.0.5] startup
[4.602s] [ext: semantics.schema.property-2.0.1] startup
[4.604s] [ext: omni.isaac.version-2.0.7] startup
2025-10-26T12:49:15Z [4,592ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
[4.605s] [ext: omni.isaac.cortex-1.0.5] startup
[4.606s] [ext: omni.anim.curve.core-1.3.1] startup
[4.614s] [ext: isaacsim.core.throttling-2.2.2] startup
[4.616s] [ext: omni.kit.menu.common-2.0.1] startup
[4.618s] [ext: isaacsim.exp.base-5.1.0] startup
[4.618s] [ext: isaacsim.exp.base.python-5.1.0] startup
[4.620s] Simulation App Starting
2025-10-26T12:49:15Z [4,818ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
2025-10-26T12:49:15Z [4,854ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
2025-10-26T12:49:15Z [4,854ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
2025-10-26T12:49:15Z [4,854ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
[4.928s] app ready
[6.875s] Simulation App Startup Complete
[6.888s] [ext: isaacsim.ros2.bridge-4.12.4] startup
[7.176s] Attempting to load system rclpy
[7.176s] Could not import system rclpy: No module named 'rclpy'
[7.176s] Attempting to load internal rclpy for ROS Distro: jazzy
[7.189s] rclpy loaded
2025-10-26T12:49:19Z [8,540ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: omni.timeline.get_timeline_interface) instead.
sim time: builtin_interfaces.msg.Time(sec=0, nanosec=33333335)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=0, nanosec=83333337)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=0, nanosec=250000013)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=0, nanosec=416666688)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=0, nanosec=583333363)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=0, nanosec=750000039)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=0, nanosec=916666714)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=1, nanosec=83333389)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=1, nanosec=250000065)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=1, nanosec=416666740)
sim time: builtin_interfaces.msg.Time(sec=1, nanosec=466666743)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=1, nanosec=583333415)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=1, nanosec=750000091)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=1, nanosec=916666766)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=2, nanosec=250000117)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=2, nanosec=583333468)
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sim time: builtin_interfaces.msg.Time(sec=5, nanosec=500000286)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=533333621)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=566666956)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=600000292)
manual stepped sim time: builtin_interfaces.msg.Time(sec=5, nanosec=583333624)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=650000294)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=683333629)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=716666964)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=750000299)
manual stepped sim time: builtin_interfaces.msg.Time(sec=5, nanosec=750000299)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=800000302)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=833333637)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=866666972)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=900000307)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=933333642)
manual stepped sim time: builtin_interfaces.msg.Time(sec=5, nanosec=916666975)
sim time: builtin_interfaces.msg.Time(sec=5, nanosec=983333645)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=16666980)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=50000315)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=83333650)
manual stepped sim time: builtin_interfaces.msg.Time(sec=6, nanosec=83333650)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=133333653)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=166666988)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=200000323)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=233333658)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=266666993)
manual stepped sim time: builtin_interfaces.msg.Time(sec=6, nanosec=250000325)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=316666996)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=350000331)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=383333666)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=416667001)
manual stepped sim time: builtin_interfaces.msg.Time(sec=6, nanosec=416667001)
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sim time: builtin_interfaces.msg.Time(sec=6, nanosec=500000339)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=533333674)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=6, nanosec=750000352)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=800000354)
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sim time: builtin_interfaces.msg.Time(sec=6, nanosec=900000359)
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manual stepped sim time: builtin_interfaces.msg.Time(sec=6, nanosec=916667027)
sim time: builtin_interfaces.msg.Time(sec=6, nanosec=983333697)
sim time: builtin_interfaces.msg.Time(sec=7, nanosec=16667032)
[61.665s] Simulation App Shutting Down
dominik@murkoS30:~/isaacsim/source/standalone_examples/api/isaacsim.ros2.bridge$Additional information
System is running IsaacSim 5.1.0 compiled from source.
IsaacSim is using internal ROS2 libraries.