Robot Wizard Add Colliders Buutton ont show in the window

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1

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When i try to use robot wizard to config my robot that import from CAD step file.

i import CAD model success. then i try to config the joint of my robot by Robot Wizard, in Step 3 i have config the robot hierarchy, and then click the Add Colliders button, But!!! In Step 4, there nothing show in the Add Collider window.

What should ido？

the CAD Step model file is download from Universe Robot website，UR3，

image
image1316×657 46.9 KB

image
image1314×647 42.8 KB

the terminal output like below：
2026-05-14T03:54:48Z [2,676,896ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:‘New’>, <MenuItemDescription name:‘Open’>, <MenuItemDescription name:‘Re-open with New Edit Layer’>, <MenuItemDescription name:‘Save’>, <MenuItemDescription name:‘Save With Options’>, <MenuItemDescription name:‘Save As…’>, <MenuItemDescription name:‘Save Flattened As…’>, <MenuItemDescription name:‘Add Reference’>, <MenuItemDescription name:‘Add Payload’>, <MenuItemDescription name:‘Exit’>] cannot change delegate
2026-05-14T03:54:49Z [2,677,200ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:‘New’>, <MenuItemDescription name:‘Open’>, <MenuItemDescription name:‘Re-open with New Edit Layer’>, <MenuItemDescription name:‘Save’>, <MenuItemDescription name:‘Save With Options’>, <MenuItemDescription name:‘Save As…’>, <MenuItemDescription name:‘Save Flattened As…’>, <MenuItemDescription name:‘Add Reference’>, <MenuItemDescription name:‘Add Payload’>, <MenuItemDescription name:‘Exit’>] cannot change delegate
2026-05-14T03:54:49Z [2,677,329ms] [Error] [omni.usd.commands.usd_commands] Cannot move/rename ancestral prim /World/UR3/UR3/tn__31220STEP_qD/tn__MoveFace1_j9
2026-05-14T03:54:49Z [2,677,330ms] [Error] [omni.usd.commands.usd_commands] Cannot move/rename ancestral prim /World/UR3/UR3/tn__31220STEP_qD/tn__MoveFace1_j9
2026-05-14T03:54:49Z [2,677,331ms] [Error] [omni.usd.commands.usd_commands] Cannot move/rename ancestral prim /World/UR3/UR3/tn__31220STEP_qD/tn__MoveFace1_j9
2026-05-14T03:54:49Z [2,677,331ms] [Error] [omni.usd.commands.usd_commands] Cannot move/rename ancestral prim /World/UR3/UR3/tn__31220STEP_qD/tn__MoveFace1_j9
2026-05-14T03:54:49Z [2,677,332ms] [Error] [omni.usd.commands.usd_commands] Cannot move/rename ancestral prim /World/UR3/UR3/tn__31220STEP_qD/tn__MoveFace1_j9
2026-05-14T03:54:49Z [2,677,332ms] [Error] [omni.usd.commands.usd_commands] Cannot move/rename ancestral prim /World/UR3/UR3
no reference mesh found for link1, keeping the link at its original position
no reference mesh found for link2, keeping the link at its original position
no reference mesh found for link3, keeping the link at its original position
no reference mesh found for tooltip, keeping the link at its original position
2026-05-14T03:54:49Z [2,677,535ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:‘New’>, <MenuItemDescription name:‘Open’>, <MenuItemDescription name:‘Re-open with New Edit Layer’>, <MenuItemDescription name:‘Save’>, <MenuItemDescription name:‘Save With Options’>, <MenuItemDescription name:‘Save As…’>, <MenuItemDescription name:‘Save Flattened As…’>, <MenuItemDescription name:‘Add Reference’>, <MenuItemDescription name:‘Add Payload’>, <MenuItemDescription name:‘Exit’>] cannot change delegate
2026-05-14T03:54:49Z [2,677,955ms] [Warning] [omni.kit.notification_manager.manager] Cannot move/rename ancestral prim /World/UR3/UR3
2026-05-14T03:54:51Z [2,679,668ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-14T03:59:09Z [2,937,439ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:‘New’>, <MenuItemDescription name:‘Open’>, <MenuItemDescription name:‘Re-open with New Edit Layer’>, <MenuItemDescription name:‘Save’>, <MenuItemDescription name:‘Save With Options’>, <MenuItemDescription name:‘Save As…’>, <MenuItemDescription name:‘Save Flattened As…’>, <MenuItemDescription name:‘Add Reference’>, <MenuItemDescription name:‘Add Payload’>, <MenuItemDescription name:‘Exit’>] cannot change delegate
2026-05-14T03:59:10Z [2,938,341ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-14T03:59:10Z [2,938,858ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml

Looking forward to your reply！！！

3

Hi @Ailee,

Do you need the STEP files? If not, you’ll have an easier time if you import a URDF instead. You can download the URDF from the official Universal Robots source Universal_Robots_ROS2_Description. It’s a Xacro, so generate the URDF with xacro ur.urdf.xacro ur_type:=ur3 name:=ur3 > ur3.urdf, then import via Isaac Sim’s URDF Importer (File → Import).

If you absolutely need the STEP files, try flattening the reference before running the wizard.** Right-click the root prim and choose Flatten Reference (or File → Save Flattened As), then re-open and start Robot Wizard. The meshes will now be regular, editable prims under each link.

HTH,

4

Thanks for your reply.
i just use UR3 STEP file for test. Because my robot model only have STEP file. i have try Save Flattened As, and Re-Open flattened usd file, added rigid body and colliders,. then Start Robot Wizard. At Step 3,when i have configed robot hierarchy and pressed Add Colliders button. But there is nothing show in Step 4 Window, like below.

image
image870×702 43.5 KB

In addition, there are numerous errors as follows:

026-05-26T07:28:27Z [2,629,488ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31220STEP_qD/tn__MoveFace1_j9/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:28:51Z [2,652,774ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31220STEP_qD/tn__CutExtrude23_zH/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:28:51Z [2,652,777ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31220STEP_qD/tn__MoveFace1_j9/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,448ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_qD/Imported1/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,451ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_qD/Imported2/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,454ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_qD/Imported3/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,456ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_qD/Imported5/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,459ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_qD/Imported6/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,462ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_qD/tn__MoveFace2_j9/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,465ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31126STEP_qD/Revolve2/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,468ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31126STEP_qD/tn__BossExtrude1_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,470ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31126STEP_qD/tn__BossExtrude2_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,473ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31601STEP_qD/tn__MoveFace1_j9/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,476ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31116STEP_qD/Revolve2/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,479ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31116STEP_qD/tn__BossExtrude1_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,482ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31600STEP_qD/NONE/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,485ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31600STEP_qD/tn__BossExtrude4_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,488ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31000STEP_qD/tn__BossExtrude15_jJ/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,490ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31000STEP_qD/tn__BossExtrude16_jJ/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,493ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31600STEP_1_nG/NONE/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,496ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31600STEP_1_nG/tn__BossExtrude4_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,499ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__34011STEP_qD/tn__BossExtrude8_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,502ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__34011STEP_1_nG/tn__BossExtrude8_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,505ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_1_nG/Imported1/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,508ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_1_nG/Imported2/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,511ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_1_nG/Imported3/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,513ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_1_nG/Imported5/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,516ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_1_nG/Imported6/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,519ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31602STEP_1_nG/tn__MoveFace2_j9/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,522ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__34011STEP_2_nG/tn__BossExtrude8_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,525ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31600STEP_2_nG/NONE/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,528ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31600STEP_2_nG/tn__BossExtrude4_VI/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,530ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31690STEP_qD/tn__MoveFace5_j9/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,533ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__31690STEP_qD/tn__BossExtrude29_jJ/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:29:55Z [2,717,536ms] [Warning] [omni.physx.scripts.utils] setCollider: /UR3/UR3/tn__34111STEP_qD/Imported1/Mesh is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull
2026-05-26T07:30:01Z [2,722,689ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:30:06Z [2,728,278ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:38:52Z [3,253,731ms] [Warning] [omni.kit.window.property.templates.simple_property_widget] GeometrySchemaAttributesWidget.build_items took 0.30205965699860826 seconds
2026-05-26T07:40:48Z [3,369,887ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid null prim

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/utils.py(50): copy_prim_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(313): _parent_button_clicked
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(139): <lambda>

2026-05-26T07:42:36Z [3,477,884ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:42:36Z [3,478,166ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:42:36Z [3,478,299ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__31220STEP_qD/tn__CutExtrude23_zH/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:42:37Z [3,479,478ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:43:54Z [3,555,983ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:43:54Z [3,556,093ms] [Warning] [carb] Client omni.anim.navigation.core.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-05-26T07:43:54Z [3,556,093ms] [Warning] [carb] Client omni.anim.navigation.core.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-05-26T07:43:54Z [3,556,273ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:43:54Z [3,556,395ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__31602STEP_1_nG/Imported1/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:43:58Z [3,560,483ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:43:59Z [3,560,766ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:43:59Z [3,560,885ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__31602STEP_qD/Imported1/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:44:04Z [3,565,806ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:44:04Z [3,565,824ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:07Z [3,749,294ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:07Z [3,749,592ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:08Z [3,749,719ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'GeomSubset' prim </UR3/UR3/tn__31126STEP_qD/Revolve2/Mesh/Diffuse_10> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:12Z [3,754,374ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:16Z [3,758,508ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:17Z [3,758,809ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:17Z [3,758,927ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__31601STEP_qD/tn__MoveFace1_j9/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:18Z [3,760,185ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:22Z [3,764,223ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:22Z [3,764,514ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:23Z [3,764,639ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__34111STEP_qD/Imported1/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:24Z [3,765,741ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:26Z [3,768,190ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:26Z [3,768,487ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:26Z [3,768,613ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'GeomSubset' prim </UR3/UR3/tn__31690STEP_qD/tn__MoveFace5_j9/Mesh/Diffuse_25> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:28Z [3,769,835ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:30Z [3,771,639ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:30Z [3,771,936ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:30Z [3,772,060ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__31116STEP_qD/Revolve2/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:31Z [3,773,041ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:33Z [3,775,173ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:33Z [3,775,474ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:33Z [3,775,596ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'GeomSubset' prim </UR3/UR3/tn__31600STEP_qD/NONE/Mesh/Diffuse_17> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:33Z [3,775,604ms] [Warning] [carb] Client omni.kit.viewport.legacy_gizmos has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-05-26T07:47:33Z [3,775,604ms] [Warning] [carb] Client omni.kit.viewport.legacy_gizmos has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-05-26T07:47:35Z [3,777,351ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:37Z [3,778,783ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:37Z [3,779,089ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:37Z [3,779,217ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__34011STEP_1_nG/tn__BossExtrude8_VI/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:38Z [3,780,314ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:40Z [3,782,408ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:41Z [3,782,718ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:41Z [3,782,859ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__34011STEP_2_nG/tn__BossExtrude8_VI/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:42Z [3,784,360ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:43Z [3,785,550ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:43Z [3,785,609ms] [Warning] [carb] Client rtx.scenedb.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-05-26T07:47:44Z [3,785,858ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:44Z [3,785,984ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'GeomSubset' prim </UR3/UR3/tn__31600STEP_2_nG/NONE/Mesh/Diffuse_17> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:47:46Z [3,788,299ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:47:58Z [3,800,613ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:59Z [3,800,924ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:47:59Z [3,801,053ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__34011STEP_qD/tn__BossExtrude8_VI/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:48:02Z [3,804,097ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:48:02Z [3,804,412ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:48:02Z [3,804,543ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'GeomSubset' prim </UR3/UR3/tn__31600STEP_1_nG/NONE/Mesh/Diffuse_17> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:48:05Z [3,807,096ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:48:05Z [3,807,418ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:48:05Z [3,807,543ms] [Error] [omni.ui.python] RuntimeError: Accessed invalid expired 'Scope' prim </UR3/UR3/tn__31000STEP_qD/tn__BossExtrude15_jJ/Looks> 

At:
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(170): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(172): move_prim_by_type
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/builders/hierarchy_helper.py(91): apply_hierarchy
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(392): _apply_new_structure
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/utils/ui_utils.py(159): next_step
  /home/tk/isaacsim/exts/isaacsim.robot_setup.wizard/isaacsim/robot_setup/wizard/pages/robot_hierarchy.py(184): <lambda>

2026-05-26T07:48:06Z [3,808,086ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:48:06Z [3,808,098ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:48:08Z [3,809,674ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:48:08Z [3,809,989ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
no reference mesh found for Base_Link, keeping the link at its original position
no reference mesh found for Link1, keeping the link at its original position
no reference mesh found for Link2, keeping the link at its original position
no reference mesh found for Link3, keeping the link at its original position
no reference mesh found for Link4, keeping the link at its original position
no reference mesh found for Link5, keeping the link at its original position
no reference mesh found for Link6, keeping the link at its original position
2026-05-26T07:48:08Z [3,810,330ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:48:30Z [3,831,732ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:48:53Z [3,855,487ms] [Warning] [omni.kit.widget.cache_indicator.utils] No [paths] found in omniverse.toml
2026-05-26T07:53:51Z [4,153,285ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,286ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,287ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,288ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,289ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,290ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,291ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,292ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,292ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,296ms] [Warning] [omni.usd] Warning: in SdfPath at line 144 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp -- Ill-formed SdfPath <>: :1:0(0): parse error matching pxrInternal_v0_24__pxrReserved__::Sdf_PathParser::Path

2026-05-26T07:53:51Z [4,153,509ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:53:52Z [4,153,632ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- Could not load sublayer @UR3_configed_robot.usd@ of layer @/home/tk/Downloads/ur3step/usd/configurations/UR3_configed_physics.usd@; skipping. (Recomposing stage on stage @/home/tk/Downloads/ur3step/usd/configurations/UR3_configed_physics.usd@ <0x63b719c89d90>)

2026-05-26T07:53:52Z [4,153,646ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </UR3_configed>: Could not open asset @configurations/UR3_configed_base.usd@ for payload introduced by @anon:0x63b7239edb50:tmp.usda@</UR3_configed{Physics=None}>. (recomposing stage on stage @anon:0x63b7239edb50:tmp.usda@ <0x63b72b70ebb0>)

2026-05-26T07:53:52Z [4,153,646ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </UR3_configed>: Could not open asset @configurations/UR3_configed_physics.usd@ for payload introduced by @anon:0x63b7239edb50:tmp.usda@</UR3_configed{Physics=PhysX}>. (recomposing stage on stage @anon:0x63b7239edb50:tmp.usda@ <0x63b72b70ebb0>)

2026-05-26T07:53:52Z [4,153,647ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </UR3_configed>: Could not open asset @configurations/UR3_configed_robot.usd@ for payload introduced by @anon:0x63b7239edb50:tmp.usda@</UR3_configed{Physics=Robot}>. (recomposing stage on stage @anon:0x63b7239edb50:tmp.usda@ <0x63b72b70ebb0>)

2026-05-26T07:53:52Z [4,153,852ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2026-05-26T07:53:52Z [4,153,916ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- Sublayer hierarchy with root layer @/home/tk/Downloads/ur3step/usd/configurations/UR3_configed_robot.usd@ has cycles. Detected when layer @/home/tk/Downloads/ur3step/usd/configurations/UR3_configed_robot.usd@ was seen in the layer stack for the second time. (instantiating stage on stage @/home/tk/Downloads/ur3step/usd/UR3_configed.usd@ <0x63b726000cc0>)

2026-05-26T07:53:52Z [4,153,996ms] [Error] [omni.kit.window.property.templates.simple_property_widget] Exception when async '<function SimplePropertyWidget._delayed_rebuild at 0x7597df5c3600>'
2026-05-26T07:53:52Z [4,153,996ms] [Error] [omni.kit.window.property.templates.simple_property_widget] Python argument types in
    Stage.GetPrimAtPath(Stage, Path)
did not match C++ signature:
    GetPrimAtPath(pxrInternal_v0_24__pxrReserved__::UsdStage {lvalue}, pxrInternal_v0_24__pxrReserved__::SdfPath path)
2026-05-26T07:53:52Z [4,153,996ms] [Error] [omni.kit.window.property.templates.simple_property_widget] Traceback (most recent call last):
  File "/home/tk/isaacsim/extscache/omni.kit.window.property-1.12.1+8131b85d/omni/kit/window/property/templates/simple_property_widget.py", line 79, in wrapper
    return await func(*args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/tk/isaacsim/extscache/omni.kit.window.property-1.12.1+8131b85d/omni/kit/window/property/templates/simple_property_widget.py", line 374, in _delayed_rebuild
    self._build_frame()
  File "/home/tk/isaacsim/extscache/omni.kit.window.property-1.12.1+8131b85d/omni/kit/window/property/templates/simple_property_widget.py", line 357, in _build_frame
    self.build_items()
  File "/home/tk/isaacsim/extscache/omni.kit.property.geometry-2.0.4+8131b85d/omni/kit/property/geometry/scripts/prim_kind_widget.py", line 71, in build_items
    prim = stage.GetPrimAtPath(path)
           ^^^^^^^^^^^^^^^^^^^^^^^^^
Boost.Python.ArgumentError: Python argument types in
    Stage.GetPrimAtPath(Stage, Path)
did not match C++ signature:
    GetPrimAtPath(pxrInternal_v0_24__pxrReserved__::UsdStage {lvalue}, pxrInternal_v0_24__pxrReserved__::SdfPath path)

I ignored these errors and continued with steps 5 and 6 until the robot wizard was completed. The resulting robot model is shown in the figure.

image
image1912×1203 377 KB

The joints are at the same point.In robot hierarchy, the visual scope and collider scope have nothing.
My STEP file is below.
ur3step.zip (3.1 MB)

Are there any step-by-step tutorials on importing a robot from a STEP file and configuring the robot using the robot wizard?

5

Hi Ailee,

The logs point to two issues:

1. Remove the manual Rigid Body / Colliders before running the wizard. At the Add Colliders step the meshes are expected to be visual-only with no physics applied — the wizard adds colliders itself. Because you pre-applied rigid bodies and colliders, PhysX throws the setCollider: ... is a part of a rigid body. Resetting approximation shape from none (trimesh) to convexHull warnings, which conflicts with the wizard’s pass. Re-import a clean asset and run the wizard without adding any physics first.
2. The empty Step 4 is a symptom of the hierarchy errors:

[Error] RuntimeError: Accessed invalid expired 'Scope'/'GeomSubset' prim </UR3/.../Looks>
  hierarchy_helper.py(170): move_prim_by_type
  hierarchy_helper.py(91): apply_hierarchy

apply_hierarchy fails while moving the many nested Looks / GeomSubset material scopes that the STEP import generated, so the collider table never populates. STEP import splits each body into many meshes, and the wizard is documented as recommended for simple robots with relatively few links and joints — a full UR3 STEP exceeds that.

Recommended fixes:

  • Consolidate each link into a single mesh and flatten the per-part Looks scopes before starting the wizard, so the prims it chokes on are gone.
  • The Robot Wizard is still Beta in 5.0.0; this hierarchy crash is likely related to “Robot Wizard: Add Colliders button not present”. If you’re able to, try the same flow on 5.1+ where wizard fixes have landed and let us know if it persists.

Step-by-step flow: Robot Wizard [Beta] and the Robot Wizard Tutorial.