Lula robot description editor

Omniverse Isaac Sim
1

6.0.1
5.1.0
5.0.0
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 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11 (pixi)
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA RTX PRO 500 Blackwell Generation Laptop GPU
  • Driver Version: 596.72

Topic Description

I am trying to follow the tutorial 8 for manipulation at this link:

but when opening the Lula robot description editor it doesn’t work properly, because the pop up window "select link"from which i should choose each link to then generate collision spheres, only sees the base link.

Error Messages

2026-07-21T15:46:13Z [53,905ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist_3_link/wrist3/wrist3. 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.
2026-07-21T15:46:13Z [53,906ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist_3_link/wrist3_1/wrist3_1. 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.
2026-07-21T15:46:13Z [53,906ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist2/tn__eSeriesUR10e040_sFY7/tn__eSeriesUR10e040_sFY7. 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.
2026-07-21T15:46:13Z [53,907ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist2/tn__eSeriesUR10e062_sFY7/tn__eSeriesUR10e062_sFY7. 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.
2026-07-21T15:46:13Z [53,907ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist2/tn__eSeriesUR10e063_sFY7/tn__eSeriesUR10e063_sFY7. 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.
2026-07-21T15:46:13Z [53,907ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist2_1/wrist2_1. 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.
2026-07-21T15:46:13Z [53,908ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist1/tn__eSeriesUR10e037_sFY7/tn__eSeriesUR10e037_sFY7. 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.
2026-07-21T15:46:13Z [53,908ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist1/tn__eSeriesUR10e060_sFY7/tn__eSeriesUR10e060_sFY7. 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.
2026-07-21T15:46:13Z [53,908ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist1/tn__eSeriesUR10e061_sFY7/tn__eSeriesUR10e061_sFY7. 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.
2026-07-21T15:46:13Z [53,909ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist1_1/wrist1_1. 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.
2026-07-21T15:46:13Z [53,909ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/forearm/tn__eSeriesUR10e031_sFY7/tn__eSeriesUR10e031_sFY7. 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.
2026-07-21T15:46:13Z [53,909ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/forearm/tn__eSeriesUR10e054_sFY7/tn__eSeriesUR10e054_sFY7. 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.
2026-07-21T15:46:13Z [53,909ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/forearm/tn__eSeriesUR10e055_sFY7/tn__eSeriesUR10e055_sFY7. 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.
2026-07-21T15:46:13Z [53,910ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/forearm/tn__eSeriesUR10e056_sFY7/tn__eSeriesUR10e056_sFY7. 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.
2026-07-21T15:46:13Z [53,910ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/forearm/tn__eSeriesUR10e057_sFY7/tn__eSeriesUR10e057_sFY7. 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.
2026-07-21T15:46:13Z [53,910ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/forearm/tn__eSeriesUR10e058_sFY7/tn__eSeriesUR10e058_sFY7. 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.
2026-07-21T15:46:13Z [53,910ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/forearm/tn__eSeriesUR10e059_sFY7/tn__eSeriesUR10e059_sFY7. 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.
2026-07-21T15:46:13Z [53,911ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/forearm_1/forearm_1. 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.
2026-07-21T15:46:13Z [53,911ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm/tn__eSeriesUR10e028_sFY7/tn__eSeriesUR10e028_sFY7. 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.
2026-07-21T15:46:13Z [53,911ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm/tn__eSeriesUR10e046_sFY7/tn__eSeriesUR10e046_sFY7. 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.
2026-07-21T15:46:13Z [53,912ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm/tn__eSeriesUR10e047_sFY7/tn__eSeriesUR10e047_sFY7. 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.
2026-07-21T15:46:13Z [53,912ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm/tn__eSeriesUR10e049_sFY7/tn__eSeriesUR10e049_sFY7. 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.
2026-07-21T15:46:13Z [53,912ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm/tn__eSeriesUR10e050_sFY7/tn__eSeriesUR10e050_sFY7. 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.
2026-07-21T15:46:13Z [53,913ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm/tn__eSeriesUR10e051_sFY7/tn__eSeriesUR10e051_sFY7. 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.
2026-07-21T15:46:13Z [53,913ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm/tn__eSeriesUR10e052_sFY7/tn__eSeriesUR10e052_sFY7. 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.
2026-07-21T15:46:13Z [53,913ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm/tn__eSeriesUR10e053_sFY7/tn__eSeriesUR10e053_sFY7. 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.
2026-07-21T15:46:13Z [53,914ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/upperarm_1/upperarm_1. 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.
2026-07-21T15:46:13Z [53,914ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/shoulder/tn__eSeriesUR10e023_sFY7/tn__eSeriesUR10e023_sFY7. 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.
2026-07-21T15:46:13Z [53,914ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/shoulder/tn__eSeriesUR10e044_sFY7/tn__eSeriesUR10e044_sFY7. 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.
2026-07-21T15:46:13Z [53,914ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/shoulder/tn__eSeriesUR10e045_sFY7/tn__eSeriesUR10e045_sFY7. 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.
2026-07-21T15:46:13Z [53,915ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/shoulder_link/shoulder_1/shoulder_1. 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.
2026-07-21T15:46:13Z [53,915ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/base/tn__eSeriesUR10e010_sFY7/tn__eSeriesUR10e010_sFY7. 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.
2026-07-21T15:46:13Z [53,915ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/base/tn__eSeriesUR10e043_sFY7/tn__eSeriesUR10e043_sFY7. 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.
2026-07-21T15:46:13Z [53,916ms] [Warning] [isaacsim.robot_setup.xrdf_editor.sphere_generation] Found instanceable mesh at path /World/ur/Geometry/world/base_link/base_link_inertia/base_1/base_1. 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.
2026-07-21T15:46:13Z [53,916ms] [Warning] [isaacsim.robot_setup.xrdf_editor.ui.sphere_editor_panel] Could not generate spheres for any meshes in link /base_link. This is likely due to all meshes nested under /base_link being instanceable

Additional Information

What I’ve Tried

I tried to fix by using the given asset files (in the hypothesis my file was somewhere wrong), but no file of the folder provided works, giving the same errors.
I tried to fix removing all the instanceable flags nested under base_link, but it didn’t work.

3

Hi, from the log, you didn’t uncheck Instanceable for all the geometry prims. Some prims are nested so make sure to expend them and uncheck Instanceable for its visuals and collisions. Here’s the link to the doc that you should follow strictly Prepare the Robot Asset

4

At the moment I partially solved, because now i can generate spheres, but only on the ur robot, cause when i try to generate spheres on the gripper i cannot see any joint of it in the robot description tool.
I tried to redo the process again starting with the gripper selected, checking the joints of the gripper active and also redoing the process again as the first time multiple times, but I am unable of seeing any joint of the gripper.
Can you help me with this issue?

One more thing is that I didn’t understand why, but now if I open the physics inspector the slider do not work properly (for example only one makes the robot moving and not even it how it is supposed too, as if the robot was fixed in some way).

ERROR MESSAGES:

2026-07-24T08:15:59Z [2,024,247ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at ‘/World/ur/robotiq_2f_140/root_joint’
2026-07-24T08:15:59Z [2,024,247ms] [Error] [omni.physx.tensors.plugin] Pattern ‘/World/ur/robotiq_2f_140/root_joint’ did not match any articulations

2026-07-24T08:15:59Z [2,024,248ms] [Error] [omni.physx.tensors.plugin] Provided pattern list did not match any articulations

2026-07-24T08:15:59Z [2,024,248ms] [Warning] [isaacsim.core.experimental.prims.impl.articulation] Unable to create articulation view for [‘/World/ur/robotiq_2f_140/root_joint’]. Physics backend not found.
2026-07-24T08:15:59Z [2,024,257ms] [Error] [omni.ui.python] TypeError: object of type ‘NoneType’ has no len()

At:
c:/projects/isaacsim-ros_workspaces/jazzy_ws/.pixi/envs/default/lib/site-packages/isaacsim/exts/isaacsim.core.experimental.prims/isaacsim/core/experimental/prims/impl/articulation.py(4788): _query_articulation_properties
c:/projects/isaacsim-ros_workspaces/jazzy_ws/.pixi/envs/default/lib/site-packages/isaacsim/exts/isaacsim.core.experimental.prims/isaacsim/core/experimental/prims/impl/articulation.py(217): num_dofs
c:/projects/isaacsim-ros_workspaces/jazzy_ws/.pixi/envs/default/lib/site-packages/isaacsim/exts/isaacsim.robot_setup.xrdf_editor/isaacsim/robot_setup/xrdf_editor/editor_state.py(141): refresh_dof_properties
c:/projects/isaacsim-ros_workspaces/jazzy_ws/.pixi/envs/default/lib/site-packages/isaacsim/exts/isaacsim.robot_setup.xrdf_editor/isaacsim/robot_setup/xrdf_editor/editor_state.py(125): select_articulation
c:/projects/isaacsim-ros_workspaces/jazzy_ws/.pixi/envs/default/lib/site-packages/isaacsim/exts/isaacsim.robot_setup.xrdf_editor/isaacsim/robot_setup/xrdf_editor/ui/ui_builder.py(226): _select_articulation_path
c:/projects/isaacsim-ros_workspaces/jazzy_ws/.pixi/envs/default/lib/site-packages/isaacsim/exts/isaacsim.robot_setup.xrdf_editor/isaacsim/robot_setup/xrdf_editor/ui/ui_builder.py(208): _on_articulation_selected_from_ui
c:/projects/isaacsim-ros_workspaces/jazzy_ws/.pixi/envs/default/lib/site-packages/isaacsim/exts/isaacsim.robot_setup.xrdf_editor/isaacsim/robot_setup/xrdf_editor/ui/selection_panel.py(202): _on_articulation_combobox

After two days of trying I proceeded with the tutorial 9, and after opening the provided file which is the i should have after finishing tutorial 8, I noticed two things:

  • the file is containing a completely diffeerent arrangement of meshes from the one you would get by following the tutorials, and this is critical because for example the generation of the spheres only works with that specific structure, to be clear the one with visuals and collisions prims, which was never teached in the tutorials (and this happens almost in every group of lessons)
  • even following strictly the tutorial 8 with the file provided in tutorial 9, doing each step rigorously would not bring to the same solution of the pictures, because a lot of steps are not specified or not clear
    Does this happens because of my specific setup and version or is there any other reason I must be careful about?
5

Thanks for the update. Do you still have issues with Tutorial 8 by using the prebuilt asset from content server? As noted in the tutorial:

Note

If you have not completed the previous tutorial, you can find the prebuilt asset in the content browser at Isaac Sim/Samples/Rigging/Manipulator/configure_manipulator/ur10e/ur/ur_gripper.usd.

If you find there’re gaps in the tutorials, you’re welcome to provide feedback, we’re trying to improve the documentation as always!

6

I still have some issue in the usage of the tool, but probably is something regarding my files.

7

Understood. Let us know if you still need help.