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: 4090M
- Driver Version: 535.183.01
###Environmental setup
I used this requirements.txt file to install isaac sim in my ros2 humble workspace.
isaacsim==4.2.0.2
isaacsim-extscache-physics==4.2.0.2
isaacsim-extscache-kit-sdk==4.2.0.2
isaacsim-extscache-kit==4.2.0.2
I have a local ros2 humble workspace and use vsctool to install the zedm urdfs
zed_ros2_wrapper:
type: git
url: https://github.com/stereolabs/zed-ros2-wrapper.git
version: adaaed8
Topic Description
Detailed Description
I was using a python script to import a urdf into isaac sim 4.2. The relevant call is
omni.kit.commands.execute(
"URDFParseAndImportFile",
urdf_path=urdf_file,
import_config=import_config,
dest_path=usd_file,
)
If I use this same call on 4.5 I get a segfault
2025-02-05 14:17:41 [9,388ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- Could not load sublayer @/kinisi_robot_description/isaac/configuration/kr1.0_sensor.usd@ of layer @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@; skipping. (Recomposing stage on stage @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@ <0x59d7ff283bf0>)
2025-02-05 14:17:41 [9,389ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- Could not load sublayer @/kinisi_robot_description/isaac/configuration/kr1.0_sensor.usd@ of layer @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@; skipping. (Recomposing stage on stage @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@ <0x59d7fe7e0ea0>)
2025-02-05 14:17:41 [9,389ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- Could not load sublayer @/kinisi_robot_description/isaac/configuration/kr1.0_sensor.usd@ of layer @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@; skipping. (Recomposing stage on stage @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@ <0x59d7ff283bf0>)
2025-02-05 14:17:41 [9,389ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- Could not load sublayer @/kinisi_robot_description/isaac/configuration/kr1.0_physics.usd@ of layer @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@; skipping. (Recomposing stage on stage @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@ <0x59d7ff283bf0>)
2025-02-05 14:17:41 [9,390ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- Could not load sublayer @/kinisi_robot_description/isaac/configuration/kr1.0_sensor.usd@ of layer @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@; skipping. (Recomposing stage on stage @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@ <0x59d7fe7e0ea0>)
2025-02-05 14:17:41 [9,390ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- Could not load sublayer @/kinisi_robot_description/isaac/configuration/kr1.0_physics.usd@ of layer @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@; skipping. (Recomposing stage on stage @/home/ags/kinisi/kinisi_ros/ros/kinisi_robot_description/isaac/kr1.0.usd@ <0x59d7fe7e0ea0>)
2025-02-05 14:17:41 [9,432ms] [Warning] [isaacsim.asset.importer.urdf] No mass specified for link base_footprint
2025-02-05 14:17:41 [9,436ms] [Warning] [isaacsim.asset.importer.urdf] Link base_footprint has no colliders, and no inertia was imported; assigning a small isotropic inertia matrix
2025-02-05 14:17:41 [9,471ms] [Warning] [omni.usd] Coding Error: in Set at line 552 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/crateData.cpp -- Failed verification: ' i != _data.end() ' -- Tried to set field '/KR1/Looks' on nonexistent spec at <primChildren>
2025-02-05 14:17:41 [9,483ms] [Warning] [omni.usd] Coding Error: in Set at line 552 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/crateData.cpp -- Failed verification: ' i != _data.end() ' -- Tried to set field '/KR1/Looks' on nonexistent spec at <primChildren>
Fatal Python error: Segmentation fault
Thread 0x00007d5c09000640 (most recent call first):
File "/usr/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
File "/usr/lib/python3.10/threading.py", line 953 in run
File "/usr/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
File "/usr/lib/python3.10/threading.py", line 973 in _bootstrap
Thread 0x00007d5c8ba00640 (most recent call first):
File "/usr/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
File "/usr/lib/python3.10/threading.py", line 953 in run
File "/usr/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
File "/usr/lib/python3.10/threading.py", line 973 in _bootstrap
Thread 0x00007d5c8aa00640 (most recent call first):
File "/usr/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
File "/usr/lib/python3.10/threading.py", line 953 in run
File "/usr/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
File "/usr/lib/python3.10/threading.py", line 973 in _bootstrap
Thread 0x00007d5e1cc00640 (most recent call first):
File "/usr/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
File "/usr/lib/python3.10/threading.py", line 953 in run
File "/usr/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
File "/usr/lib/python3.10/threading.py", line 973 in _bootstrap
Thread 0x00007d5e27c00640 (most recent call first):
File "/usr/lib/python3.10/concurrent/futures/thread.py", line 81 in _worker
File "/usr/lib/python3.10/threading.py", line 953 in run
File "/usr/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
File "/usr/lib/python3.10/threading.py", line 973 in _bootstrap
Current thread 0x00007d6179e1f000 (most recent call first):
File "/usr/local/lib/python3.10/dist-packages/isaacsim/extscache/isaacsim.asset.importer.urdf-2.3.10+106.4.0.lx64.r.cp310/isaacsim/asset/importer/urdf/scripts/commands.py", line 202 in do
File "/usr/local/lib/python3.10/dist-packages/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/undo/undo.py", line 420 in _execute
File "/usr/local/lib/python3.10/dist-packages/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/undo/undo.py", line 78 in execute
File "/usr/local/lib/python3.10/dist-packages/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/commands/command.py", line 463 in execute
File "/home/ags/kinisi/kinisi_ros/ros/./kinisi_isaac/kinisi_isaac/urdf_to_usd_converter.py", line 152 in <module>
Extension modules: yaml._yaml, regex._regex, markupsafe._speedups, omni.mdl.pymdlsdk._pymdlsdk, psutil._psutil_linux, psutil._psutil_posix, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, scipy._lib._ccallback_c, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.sparse.linalg._isolve._iterative, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg.cython_lapack, scipy.linalg._cythonized_array_utils, scipy.linalg._solve_toeplitz, scipy.linalg._decomp_lu_cython, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg.cython_blas, scipy.linalg._matfuncs_expm, scipy.linalg._decomp_update, scipy.linalg._flinalg, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, scipy.spatial.transform._rotation, torch._C, torch._C._dynamo.autograd_compiler, torch._C._dynamo.eval_frame, torch._C._dynamo.guards, torch._C._dynamo.utils, torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, torch._C._special, PIL._imaging, PIL._imagingft, _brotli, zstandard.backend_c, osqp._osqp, scipy.io.matlab._mio_utils, scipy.io.matlab._streams, scipy.io.matlab._mio5_utils (total: 75)
/home/ags/kinisi/kinisi_ros/ros/kinisi_isaac/scripts/export_usd.sh: line 21: 3074293 Segmentation fault (core dumped) ./kinisi_isaac/kinisi_isaac/urdf_to_usd_converter.py --urdf-file $URDF_PATH $LULA_MODE
I looked at the tutorials and saw this new method of importing urdfs.
result, robot_model = omni.kit.commands.execute(
"URDFParseFile",
urdf_path=urdf_abs_file,
import_config=import_config,
)
# Import the robot onto the current stage and retrieve its prim path
result, prim_path = omni.kit.commands.execute(
"URDFImportRobot",
urdf_robot=robot_model,
import_config=import_config,
)
When I run the updated script on isaac sim 4.5 it is not able to resolve the stl files for some external packages.
2025-02-05 14:16:31 [10,950ms] [Warning] [isaacsim.asset.importer.urdf] Path: package://zed_msgs/meshes/zedm.stl not found
2025-02-05 14:16:31 [10,950ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'package://zed_msgs/meshes/zedm.stl'
2025-02-05 14:16:31 [10,950ms] [Warning] [isaacsim.asset.importer.urdf] Prim /visuals/face_downward_camera_center/zedm not created
2025-02-05 14:16:31 [10,952ms] [Warning] [isaacsim.asset.importer.urdf] Path: package://zed_msgs/meshes/zedm.stl not found
2025-02-05 14:16:31 [10,952ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'package://zed_msgs/meshes/zedm.stl'
2025-02-05 14:16:31 [10,952ms] [Warning] [isaacsim.asset.importer.urdf] Prim /colliders/face_downward_camera_center/zedm not created
It seems isaac can’t see the files that were installed from depend.repos with vcstool. I set the ROS_PACKAGE_PATH variable to my workspace install directory and confirmed that the stl files were in the correct location, but this does not fix it.
Steps to Reproduce
- install urdf files using vcstool and depend.repos
- source workspace and set ROS_PACKAGE_PATH
- import urdf into isaac sim
- see warnings about files not being found
Additional Information
What I’ve Tried
I have tried importing via the gui but face similar issues.
I currently have a workaround for the second issue of package path resolution. Before I pass the urdf to isaac import I have a script that replaces all package:// paths with absolute paths. This lets isaac find the zedm meshes, but if I pass the urdf with absolute imports to URDFParseAndImportFile it still segfaults.