Isaac Sim 4.5.0 not responding at URDF Import

Omniverse Isaac Sim
,
1

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA GeForce RTX 4047 Laptop GPU
  • Driver Version: 572.16

Topic Description

Isaac Sim is frozen at URDF confirm path while importing URDF while following this tutorial:
https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_turtlebot.html#isaac-sim-app-tutorial-ros2-turtlebot

This is happening with any other URDF too.

Detailed Description

While following the tutorial to import the turtlebot in Isaac Sim 4.5.0, Isaac Sim is frozen.

After the import dialogue of the URDF

02-Import-Screen-Locked
02-Import-Screen-Locked1920×1133 112 KB

Steps to Reproduce

  1. Open Isaac Sim
  2. File > Import
  3. Select the turtlebot burger URDF file
  4. The screen is stuck at URDF Confirm path dialogue

Error Messages

[WinError 123] The filename, directory name, or volume label syntax is incorrect: ‘https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Simple_Room/simple_room.usd’
[WinError 123] The filename, directory name, or volume label syntax is incorrect: ‘https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Simple_Room/simple_room.usd’
2025-02-26 13:50:07 [144,086ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE C:\g\134410265\physx\source\geomutils\src\cooking\GuCookingConvexMesh.cpp, LINE 124
2025-02-26 13:50:07 [144,092ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE C:\g\134410265\physx\source\geomutils\src\cooking\GuCookingConvexMesh.cpp, LINE 124
2025-02-26 13:50:07 [144,098ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE C:\g\134410265\physx\source\geomutils\src\cooking\GuCookingConvexMesh.cpp, LINE 124
2025-02-26 13:50:07 [144,103ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE C:\g\134410265\physx\source\geomutils\src\cooking\GuCookingConvexMesh.cpp, LINE 124
2025-02-26 13:50:07 [144,137ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE C:\g\134410265\physx\source\geomutils\src\cooking\GuCookingConvexMesh.cpp, LINE 124
2025-02-26 13:50:07 [144,141ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE C:\g\134410265\physx\source\geomutils\src\cooking\GuCookingConvexMesh.cpp, LINE 124
2025-02-26 13:50:14 [151,691ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE C:\g\134410265\physx\source\geomutils\src\cooking\GuCookingConvexMesh.cpp, LINE 124
2025-02-26 13:50:14 [151,694ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE C:\g\134410265\physx\source\geomutils\src\cooking\GuCookingConvexMesh.cpp, LINE 124

Screenshots or Videos

(If applicable, add screenshots or links to videos that demonstrate the issue)

Additional Information

What I’ve Tried

(Describe any troubleshooting steps you’ve already taken)

Related Issues

(If you’re aware of any related issues or forum posts, please link them here)

Additional Context

(Add any other context about the problem here)

2

I’ve successfully imported the turtlebot3_burger.urdf file using Isaac Sim 4.5.0. Here are the steps I took:

  1. Clone the Turtlebot3’s description package.
  2. Click File > Import, then locate turtlebot3_burger.urdf and click import.
  3. Click Yes in the ‘URDF Confirm Path’ window.

Are there any steps missing on my end to reproduce the issue you’re encountering?

For reference, I found a similar topic posted by another user:

3

Ok. Let me post some updates then.

Change in Isaac Sim 4.5.0 Running mode

  1. I used the --reset--user argument in the extra args.

Result:

  1. The turtlebot URDF loaded.

New Issue:

  1. I wanted to load a custom URDF and got the following errors and warnings. Any idea? One thing I can get is, the URDF package is missing some parts. I am working on them. But I can not understand the errors.
2025-02-27 08:27:57 [42,503ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/turtlebot3_burger/base_footprint/visuals.proto_mesh_id1 that has not been populated
2025-02-27 08:28:48 [93,988ms] [Warning] [isaacsim.asset.importer.urdf] The path dark-gray is not a valid usd path, modifying to dark_gray
2025-02-27 08:28:48 [93,989ms] [Warning] [isaacsim.asset.importer.urdf] The path dark-gray is not a valid usd path, modifying to dark_gray
2025-02-27 08:28:48 [93,989ms] [Warning] [isaacsim.asset.importer.urdf] The path dark-gray is not a valid usd path, modifying to dark_gray
2025-02-27 08:28:48 [93,990ms] [Warning] [isaacsim.asset.importer.urdf] The path dark-gray is not a valid usd path, modifying to dark_gray
2025-02-27 08:28:48 [93,990ms] [Warning] [isaacsim.asset.importer.urdf] The path robot_arm_base_link-base_link_inertia is not a valid usd path, modifying to robot_arm_base_link_base_link_inertia
2025-02-27 08:28:48 [93,991ms] [Warning] [isaacsim.asset.importer.urdf] The path robot_arm_base_link-base_fixed_joint is not a valid usd path, modifying to robot_arm_base_link_base_fixed_joint
2025-02-27 08:28:48 [93,991ms] [Warning] [isaacsim.asset.importer.urdf] The path robot_arm_wrist_3-flange is not a valid usd path, modifying to robot_arm_wrist_3_flange
2025-02-27 08:28:48 [93,991ms] [Warning] [isaacsim.asset.importer.urdf] The path robot_arm_flange-tool0 is not a valid usd path, modifying to robot_arm_flange_tool0
2025-02-27 08:28:48 [93,991ms] [Warning] [isaacsim.asset.importer.urdf] The path robot_arm_base_link-base_link_inertia is not a valid usd path, modifying to robot_arm_base_link_base_link_inertia
2025-02-27 08:28:48 [93,991ms] [Warning] [isaacsim.asset.importer.urdf] The path robot_arm_base_link-base_fixed_joint is not a valid usd path, modifying to robot_arm_base_link_base_fixed_joint
2025-02-27 08:28:48 [93,992ms] [Warning] [isaacsim.asset.importer.urdf] The path robot_arm_wrist_3-flange is not a valid usd path, modifying to robot_arm_wrist_3_flange
2025-02-27 08:28:48 [93,992ms] [Warning] [isaacsim.asset.importer.urdf] The path robot_arm_flange-tool0 is not a valid usd path, modifying to robot_arm_flange_tool0
2025-02-27 08:29:10 [115,912ms] [Warning] [isaacsim.asset.importer.urdf] ROS_PACKAGE_PATH not defined, will skip checking ROS packages
2025-02-27 08:29:10 [115,913ms] [Warning] [isaacsim.asset.importer.urdf] Path: ewellix_description/meshes/ewellix_lift_base_700mm.stl not found
2025-02-27 08:29:10 [115,913ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'ewellix_description/meshes/ewellix_lift_base_700mm.stl'
2025-02-27 08:29:10 [115,913ms] [Warning] [isaacsim.asset.importer.urdf] Prim /visuals/robot_base_footprint/ewellix_lift_base_700mm not created
2025-02-27 08:29:10 [115,914ms] [Warning] [isaacsim.asset.importer.urdf] ROS_PACKAGE_PATH not defined, will skip checking ROS packages
2025-02-27 08:29:10 [115,914ms] [Warning] [isaacsim.asset.importer.urdf] Path: robotnik_sensors/meshes/rs_bpearl.stl not found
2025-02-27 08:29:10 [115,914ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'robotnik_sensors/meshes/rs_bpearl.stl'
2025-02-27 08:29:10 [115,915ms] [Warning] [isaacsim.asset.importer.urdf] Prim /visuals/robot_base_footprint/rs_bpearl not created
2025-02-27 08:29:10 [115,915ms] [Warning] [isaacsim.asset.importer.urdf] ROS_PACKAGE_PATH not defined, will skip checking ROS packages
2025-02-27 08:29:10 [115,916ms] [Warning] [isaacsim.asset.importer.urdf] Path: robotnik_sensors/meshes/orbbec_astra.dae not found
2025-02-27 08:29:10 [115,916ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'robotnik_sensors/meshes/orbbec_astra.dae'
2025-02-27 08:29:10 [115,916ms] [Warning] [isaacsim.asset.importer.urdf] Prim /visuals/robot_base_footprint/orbbec_astra not created
2025-02-27 08:29:10 [115,917ms] [Warning] [isaacsim.asset.importer.urdf] ROS_PACKAGE_PATH not defined, will skip checking ROS packages
2025-02-27 08:29:10 [115,917ms] [Warning] [isaacsim.asset.importer.urdf] Path: robotnik_sensors/meshes/antenna_ANN_MB_mast.stl not found
2025-02-27 08:29:10 [115,918ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'robotnik_sensors/meshes/antenna_ANN_MB_mast.stl'
2025-02-27 08:29:10 [115,918ms] [Warning] [isaacsim.asset.importer.urdf] Prim /visuals/robot_base_footprint/antenna_ANN_MB_mast not created
2025-02-27 08:29:10 [115,919ms] [Warning] [isaacsim.asset.importer.urdf] ROS_PACKAGE_PATH not defined, will skip checking ROS packages
2025-02-27 08:29:10 [115,919ms] [Warning] [isaacsim.asset.importer.urdf] Path: robotnik_sensors/meshes/vectornav_vn100.stl not found
2025-02-27 08:29:10 [115,919ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'robotnik_sensors/meshes/vectornav_vn100.stl'
2025-02-27 08:29:10 [115,919ms] [Warning] [isaacsim.asset.importer.urdf] Prim /visuals/robot_base_footprint/vectornav_vn100 not created
2025-02-27 08:29:10 [115,936ms] [Warning] [isaacsim.asset.importer.urdf] ROS_PACKAGE_PATH not defined, will skip checking ROS packages
2025-02-27 08:29:10 [115,936ms] [Warning] [isaacsim.asset.importer.urdf] Path: ewellix_description/meshes/ewellix_lift_base_700mm.stl not found
2025-02-27 08:29:10 [115,937ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'ewellix_description/meshes/ewellix_lift_base_700mm.stl'
2025-02-27 08:29:10 [115,937ms] [Warning] [isaacsim.asset.importer.urdf] Prim /colliders/robot_base_footprint/ewellix_lift_base_700mm not created
2025-02-27 08:29:10 [115,940ms] [Error] [omni.kit.commands.command] Failed to execute a command: URDFImportRobot.
  File "c:/users/avishek/appdata/local/ov/data/kit/isaac-sim full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.wx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py", line 426, in check_callback
    self.start_import(checked=True, path=path)
  File "c:/users/avishek/appdata/local/ov/data/kit/isaac-sim full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.wx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py", line 472, in start_import
    self._load_robot(dest_path, path)
  File "c:/users/avishek/appdata/local/ov/data/kit/isaac-sim full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.wx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py", line 586, in _load_robot
    omni.kit.commands.execute(
  File "c:/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.wx64.r.cp310/omni/kit/commands/command.py", line 463, in execute
    result = omni.kit.undo.execute(command, name, kwargs)
[...skipped...]
  File "c:/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.wx64.r.cp310/omni/kit/undo/undo.py", line 78, in execute
    result = _execute(command, name, level, history_key)
  File "c:/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.wx64.r.cp310/omni/kit/undo/undo.py", line 459, in _execute
    raise error
  File "c:/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.wx64.r.cp310/omni/kit/undo/undo.py", line 420, in _execute
    result = command.do()
  File "c:/users/avishek/appdata/local/ov/data/kit/isaac-sim full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.wx64.r.cp310/isaacsim/asset/importer/urdf/scripts/commands.py", line 145, in do
    return self._urdf_interface.import_robot(

 <class 'RuntimeError'> Used null prim
2025-02-27 08:29:10 [115,942ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid null prim

At:
  c:/users/avishek/appdata/local/ov/data/kit/isaac-sim full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.wx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py(594): _load_robot
  c:/users/avishek/appdata/local/ov/data/kit/isaac-sim full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.wx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py(472): start_import
  c:/users/avishek/appdata/local/ov/data/kit/isaac-sim full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.wx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py(426): check_callback

Any help is appreciated. Thanks

The URDF I am trying to load is attached here:
rbvogui_xl_ur20.zip (7.7 KB)

NOTE:There are missing parts but this URDF loads and generates USD models while used in Isaac Sim 4.2.0.

4

Please create a new topic for the current issue. Thanks.