Hi,
I’m trying to import the Leo Rover into IsaacSim using the urdf from the leo_description package. When I run the robot state publisher and display it in rviz it works as expected.
When I import it using the URDF importer (I have tried using both the robot_description importer and the urdf file importer on the saved xacro output) the robot is imported, but as you can see in the below image it is not being imported properly:
When I import I firstly get these warnings when I select the file/node
2025-03-26 05:07:37 [151,758ms] [Warning] [isaacsim.asset.importer.urdf] link antenna_link has no body properties (mass, inertia, or collisions) and is being merged into base_link
2025-03-26 05:07:37 [151,758ms] [Warning] [isaacsim.asset.importer.urdf] link camera_optical_frame has no body properties (mass, inertia, or collisions) and is being merged into camera_frame
2025-03-26 05:07:37 [151,758ms] [Warning] [isaacsim.asset.importer.urdf] link camera_frame has no body properties (mass, inertia, or collisions) and is being merged into base_link
2025-03-26 05:07:37 [151,758ms] [Warning] [isaacsim.asset.importer.urdf] link imu_frame has no body properties (mass, inertia, or collisions) and is being merged into base_link
2025-03-26 05:07:37 [151,758ms] [Warning] [isaacsim.asset.importer.urdf] link rocker_L_link has no body properties (mass, inertia, or collisions) and is being merged into base_link
2025-03-26 05:07:37 [151,758ms] [Warning] [isaacsim.asset.importer.urdf] link rocker_R_link has no body properties (mass, inertia, or collisions) and is being merged into base_link
2025-03-26 05:07:37 [151,758ms] [Warning] [isaacsim.asset.importer.urdf] link base_link has no body properties (mass, inertia, or collisions) and is being merged into base_footprint
However the base_link, rocker_L_link and rocker_R_link do have inertia, mass and collisions defined in the URDF.
After I click import I get a bunch of these warnings:
2025-03-26 05:12:39 [454,559ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp – In </meshes/Chassis/Body1_007_mesh>: Unresolved reference prim path @/workspace/omnilrs/assets/USD_Assets/robots/leo.usd/
leo/leo.usd@</Scene/Chassis_v3/A0031_1/A0031/A0034_1/A0034/nutrivet_M4_2/nutrivet_M4_001/Body1_034/Body1_007_mesh> introduced by @/workspace/omnilrs/assets/USD_Assets/robots/leo.usd/leo/configuration/leo_base.usd@</meshes/Chassis/Body1_007_mesh> (recomposing stage on st
age @/workspace/omnilrs/assets/USD_Assets/robots/leo.usd/leo/leo.usd@ <0x37b62610>)2025-03-26 05:12:39 [454,559ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp – In </meshes/Chassis/Body1_007_mesh>: Unresolved reference prim path @/workspace/omnilrs/assets/USD_Assets/robots/leo.usd/
leo/configuration/leo_base.usd@</Scene/Chassis_v3/A0031_1/A0031/A0034_1/A0034/nutrivet_M4_2/nutrivet_M4_001/Body1_034/Body1_007_mesh> introduced by @/workspace/omnilrs/assets/USD_Assets/robots/leo.usd/leo/configuration/leo_base.usd@</meshes/Chassis/Body1_007_mesh> (reco
mposing stage on stage @/workspace/omnilrs/assets/USD_Assets/robots/leo.usd/leo/configuration/leo_base.usd@ <0x37b86df0>)