Lula Robot Description Editor bug with imported instanceable robot assets

Omniverse Isaac Sim
1

When I import a robot from a custom urdf file using the URDF importer, with the “create instanceable assed” option enabled, the Lula Robot Description Editor gives the following error as soon as I choose the articulation from the list, and it does not work:

[Error] [omni.ui.python] IndexError: list index out of range

At:
/isaac-sim/exts/omni.isaac.robot_description_editor/omni/isaac/robot_description_editor/extension.py(273): _on_select_sphere_gen_link
/isaac-sim/exts/omni.isaac.robot_description_editor/omni/isaac/robot_description_editor/extension.py(319): _refresh_sphere_gen_link_combobox
/isaac-sim/exts/omni.isaac.robot_description_editor/omni/isaac/robot_description_editor/extension.py(220): _on_selection
/isaac-sim/exts/omni.isaac.robot_description_editor/omni/isaac/robot_description_editor/extension.py(246): _on_combobox_selection
/isaac-sim/exts/omni.isaac.ui/omni/isaac/ui/widgets.py(31):

The same error does not happen if the “create instanceable assed” option is disabled. In both cased, the articulation inspector works.

Is this a bug, or is there something wrong with my robot asset?

Thank you in advance.

Note: same error also happens with the built-in instanceable Franka asset

2

@ozhanozen This appears to be a bug with the robot description editor. Thank you for reporting this.

3

Hi @arudich

Thank you for your answer. Is there a workaround for this currently? For example, would it work if I create both instanceable and non-instanceable robot assets, generate lula_configs from the non-instanceable one but use these configs with the instanceable robot asset in the simulation?

4

The file that is created by the Robot Description editor is completely independent of the USD file used to generate it. It is used as a config file in algorithms that don’t read the USD such as RMPflow of LulaKinematicsSolver. So if you create the robot description file with a non-instanceable asset, it will work just fine when used in conjunction with the instanceable asset.

5

Ok then, I will do this as a workaround for the moment. Thanks a lot!