Lula Robot Description Editor Could not generate spheres

[zvch17]

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

• Driver Version: 535.230.02

Topic Description

Lula Robot Description Editor Could not generate spheres

Detailed Description

Hello, I want to use Lula Robot Description Editor to generate collision spheres for my robot. I have the urdf file, so first I used the urdf importer to get the usd file, and then I tried to use Lula Robot Description Editor to generate spheres for all the links. However, the ‘generate spheres’ function didn’t work, and the console output the warning:
[isaacsim.robot_setup.xrdf_editor.extension] Could not generate spheres for any meshes in link /rail_link. This is likely due to all meshes nested under /rail_link being instanceable
I am a starter of isaacsim and I’m confused about the instanceable property. I checked the elements in ‘robot_description’, only visuals and collisions of each link are instanceable.
So how can I solve this problem?
Thank you for any support.

Error Messages

2025-05-14 03:13:18 [133,580ms] [Warning] [isaacsim.robot_setup.xrdf_editor.extension] Found instanceable mesh at path /World/robot_description/r_link_4/visuals/r_link_4/mesh. Instanceable meshes are not fully compatible with the Robot Description Editor. They cannot be used to generate spheres automatically. You may author spheres by hand or stop the timeline and uncheck ‘Instanceable’ in the Properties panel for this path and all parent paths.
2025-05-14 03:13:18 [133,580ms] [Warning] [isaacsim.robot_setup.xrdf_editor.extension] Found instanceable mesh at path /World/robot_description/r_link_4/collisions/r_link_4/mesh. Instanceable meshes are not fully compatible with the Robot Description Editor. They cannot be used to generate spheres automatically. You may author spheres by hand or stop the timeline and uncheck ‘Instanceable’ in the Properties panel for this path and all parent paths.
2025-05-14 03:13:18 [133,580ms] [Warning] [isaacsim.robot_setup.xrdf_editor.extension] Found instanceable mesh at path /World/robot_description/r_link_5/visuals/r_link_5/mesh. Instanceable meshes are not fully compatible with the Robot Description Editor. They cannot be used to generate spheres automatically. You may author spheres by hand or stop the timeline and uncheck ‘Instanceable’ in the Properties panel for this path and all parent paths.
2025-05-14 03:13:18 [133,580ms] [Warning] [isaacsim.robot_setup.xrdf_editor.extension] Found instanceable mesh at path /World/robot_description/r_link_5/collisions/r_link_5/mesh. Instanceable meshes are not fully compatible with the Robot Description Editor. They cannot be used to generate spheres automatically. You may author spheres by hand or stop the timeline and uncheck ‘Instanceable’ in the Properties panel for this path and all parent paths.
2025-05-14 03:13:18 [133,581ms] [Warning] [isaacsim.robot_setup.xrdf_editor.extension] Could not generate spheres for any meshes in link /base_link. This is likely due to all meshes nested under /base_link being instanceable

Screenshots or Videos

[zhengwang]

Hi @zvch17 welcome to the community! In tutorial Lula Robot Description and XRDF Editor — Isaac Sim Documentation, it says:

The Robot Description Editor is not compatible with Instanceable Assets, but a Robot Description File generated for an asset that was later converted to an instanceable asset will still work on the instanceable asset.

Please try

• Stop the timeline.
• Uncheck “Instanceable” for all of the elements include visuals and collisions
• Retry “Generate Spheres”.

[zvch17]

Thanks for help! It works for me!