[Question] FabricManager::initializePointInstancer mismatched prototypes

[hojae-io]

Question

Every time I create a visualization marker as below, I get the FabricManager warnings.
Is there any way to remove these warnings?

# Create markers if necessary for the first time
if not hasattr(self, "_lft_lin_vel_visualizer") or self._lft_lin_vel_visualizer is None:
    # Left fingertip linear velocity visualizer (red)
    marker_cfg = RED_ARROW_X_MARKER_CFG.copy()
    marker_cfg.prim_path = "/Visuals/Action/left_fingertip_linear_velocity"
    marker_cfg.markers["arrow"].scale = (0.1, 0.1, 0.1)
    self._lft_lin_vel_visualizer = VisualizationMarkers(marker_cfg)
    # Right fingertip linear velocity visualizer (red)
    marker_cfg = RED_ARROW_X_MARKER_CFG.copy()
    marker_cfg.prim_path = "/Visuals/Action/right_fingertip_linear_velocity"
    marker_cfg.markers["arrow"].scale = (0.1, 0.1, 0.1)
    self._rft_lin_vel_visualizer = VisualizationMarkers(marker_cfg)
    # Left fingertip angular velocity visualizer (green) - only if angular velocity is enabled
    if self._include_angular_velocity:
        marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
        marker_cfg.prim_path = "/Visuals/Action/left_fingertip_angular_velocity"
        marker_cfg.markers["arrow"].scale = (0.1, 0.1, 0.1)
        self._lft_ang_vel_visualizer = VisualizationMarkers(marker_cfg)
        # Right fingertip angular velocity visualizer (green)
        marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
        marker_cfg.prim_path = "/Visuals/Action/right_fingertip_angular_velocity"
        marker_cfg.markers["arrow"].scale = (0.1, 0.1, 0.1)
        self._rft_ang_vel_visualizer = VisualizationMarkers(marker_cfg)
# Set their visibility
self._lft_lin_vel_visualizer.set_visibility(True)
self._rft_lin_vel_visualizer.set_visibility(True)
if self._include_angular_velocity:
    self._lft_ang_vel_visualizer.set_visibility(True)
    self._rft_ang_vel_visualizer.set_visibility(True)

2025-12-01T20:03:37Z [60,422ms] [Warning] [omni.physx.fabric.plugin] FabricManager::initializePointInstancer mismatched prototypes on point instancer: /Visuals/Action/left_fingertip_angular_velocity.
2025-12-01T20:03:37Z [60,422ms] [Warning] [omni.physx.fabric.plugin] FabricManager::initializePointInstancer mismatched prototypes on point instancer: /Visuals/Action/right_fingertip_linear_velocity.
2025-12-01T20:03:37Z [60,422ms] [Warning] [omni.physx.fabric.plugin] FabricManager::initializePointInstancer mismatched prototypes on point instancer: /Visuals/Action/left_fingertip_linear_velocity.
2025-12-01T20:03:37Z [60,422ms] [Warning] [omni.physx.fabric.plugin] FabricManager::initializePointInstancer mismatched prototypes on point instancer: /Visuals/Action/palm_angular_velocity.
2025-12-01T20:03:37Z [60,423ms] [Warning] [omni.physx.fabric.plugin] FabricManager::initializePointInstancer mismatched prototypes on point instancer: /Visuals/Action/right_fingertip_angular_velocity.
2025-12-01T20:03:37Z [60,423ms] [Warning] [omni.physx.fabric.plugin] FabricManager::initializePointInstancer mismatched prototypes on point instancer: /Visuals/Action/palm_linear_velocity.

From what I investigated, the warning pops up when we call forward(self) function, especially self._update_fabric, in simulation_context.py during rendering.

def forward(self) -> None:
    """Updates articulation kinematics and fabric for rendering."""
    if self._fabric_iface is not None:
        if self.physics_sim_view is not None and self.is_playing():
            # Update the articulations' link's poses before rendering
            self.physics_sim_view.update_articulations_kinematic()
        self._update_fabric(0.0, 0.0)

Build Info

Describe the versions that you are currently using:

• Isaac Lab Version: 2.2.1
• Isaac Sim Version: 5.0.0