[Bug Report] ModuleNotFoundError: No module named 'omni.kit.usd'

[supersglzc]

Traceback (most recent call last):
  File "/home/supersglzc/code/IsaacLab/source/standalone/demos/quadrupeds.py", line 30, in <module>
    app_launcher = AppLauncher(args_cli)
  File "/home/supersglzc/code/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py", line 117, in __init__
    self._create_app()
  File "/home/supersglzc/code/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py", line 536, in _create_app
    self._app = SimulationApp(self._sim_app_config, experience=self._sim_experience_file)
  File "/home/supersglzc/Isaac/isaac-sim-2023.1.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py", line 195, in __init__
    from .utils import create_new_stage, open_stage, set_livesync_stage
  File "/home/supersglzc/Isaac/isaac-sim-2023.1.1/exts/omni.isaac.kit/omni/isaac/kit/utils.py", line 17, in <module>
    from omni.kit.usd import layers
ModuleNotFoundError: No module named 'omni.kit.usd'

Hi, I have verified that my IsaacSim installation is correct. When I tried to run the verification for Isaac lab, it gives me this error.

I saw some comments suggesting that it may due to the Nucleus, but I checked that my Nucleus is connected.

[Dhoeller19]

Hi @supersglzc,
We recommend updating to IsaacSim 4.0.0.

If you want to keep using 2023.1.1, you have to use the backwards compatible experience file here. You can activate it by giving the path to that file as command line input with --experience=...

[jbt-cmu]

How exactly do I update to this version of IsaacSim?

Thanks!

[jtigue-bdai]

To install Isaac Sim 4.0.0 search for it in the Omniverse Launcher Exchange Apps. You will find two Isaac Sim apps that show up. Find the one that has 4.0.0 as the version. 4.0.0 will not show as an upgrade option in the Isaac Sim 2023.1.1 version of the app that is already installed.

There is also the experimental pip install method.

[MasterYip]

To install Isaac Sim 4.0.0 search for it in the Omniverse Launcher Exchange Apps. You will find two Isaac Sim apps that show up. Find the one that has 4.0.0 as the version. 4.0.0 will not show as an upgrade option in the Isaac Sim 2023.1.1 version of the app that is already installed.

There is also the experimental pip install method.

Thanks for the solution!
It is a little bit tricky to install the according version for it is folded in the All releases builds option

[KevinGrey]

Hi there, I solve this bug by changing my code like this:
before:

from isaacsim import SimulationApp  
simulation_app = SimulationApp({"headless": False})

alter:

from omni.isaac.lab.app import AppLauncher
import argparse
parser = argparse.ArgumentParser(description="This script demonstrates different dexterous hands.")
AppLauncher.add_app_launcher_args(parser)
args_cli = parser.parse_args()
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app