Isaac Manipulator Pick and Place tutorial with Isaac Sim not working

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:

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

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

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

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