Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
Topic Description
The URDF importer no longer works with my .urdf file.
Detailed Description
I attempted to use the latest version of IsaacSim to import my robot from a URDF file. In the previous release, the importer worked after some modifications were made to the USD file. See :
However, in the new version, show me an error and the .usd file that is generated is unusable, which is preventing me from proceeding.
Steps to Reproduce
- launch IsaacSim 4.5.0
- Import the urdf file
URDF file
xarm6.zip (3.4 KB)
Generated .usd file from previous version
xarm62.zip (1.6 MB).
Generated .usd file with version 4.5.0
xarm6_4_5_0.zip (331 Bytes)
Error Messages
2025-01-31 10:30:56 [185,229ms] [Warning] [isaacsim.asset.importer.urdf] ROS_PACKAGE_PATH not defined, will skip checking ROS packages
2025-01-31 10:30:56 [185,229ms] [Warning] [isaacsim.asset.importer.urdf] Path: meshes/end_tool/collision/end_tool.stl not found
2025-01-31 10:30:56 [185,229ms] [Warning] [isaacsim.asset.importer.urdf] Failed to resolve mesh 'meshes/end_tool/collision/end_tool.stl'
2025-01-31 10:30:56 [185,229ms] [Warning] [isaacsim.asset.importer.urdf] Prim /colliders/xarm6link6/end_tool not created
2025-01-31 10:30:56 [185,232ms] [Error] [omni.kit.commands.command] Failed to execute a command: URDFImportRobot.
File "/home/theobloesch/isaacsim/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py", line 263, in <lambda>
lambda *args: self._loop.run_once(),
File "/home/theobloesch/isaacsim/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py", line 197, in run_once
self._run_once()
File "/home/theobloesch/isaacsim/kit/python/lib/python3.10/asyncio/base_events.py", line 1909, in _run_once
handle._run()
File "/home/theobloesch/isaacsim/kit/python/lib/python3.10/asyncio/events.py", line 80, in _run
self._context.run(self._callback, *self._args)
File "/home/theobloesch/isaacsim/extscache/omni.kit.tool.asset_importer-2.12.2+106.5.0/omni/kit/tool/asset_importer/extension.py", line 449, in convert_and_wait
converted_assets = await self._importers_manager.convert_assets(paths, add_reference)
File "/home/theobloesch/isaacsim/extscache/omni.kit.tool.asset_importer-2.12.2+106.5.0/omni/kit/tool/asset_importer/importers_manager.py", line 141, in convert_assets
converted_assets = await importer.convert_assets(
File "/home/theobloesch/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.lx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py", line 701, in convert_assets
self._importer.start_import(path=path)
File "/home/theobloesch/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.lx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py", line 472, in start_import
self._load_robot(dest_path, path)
File "/home/theobloesch/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.lx64.r.cp310/isaacsim/asset/importer/urdf/scripts/extension.py", line 586, in _load_robot
omni.kit.commands.execute(
File "/home/theobloesch/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/commands/command.py", line 463, in execute
result = omni.kit.undo.execute(command, name, kwargs)
[...skipped...]
File "/home/theobloesch/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/undo/undo.py", line 78, in execute
result = _execute(command, name, level, history_key)
File "/home/theobloesch/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/undo/undo.py", line 459, in _execute
raise error
File "/home/theobloesch/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/undo/undo.py", line 420, in _execute
result = command.do()
File "/home/theobloesch/.local/share/ov/data/Kit/Isaac-Sim Full/4.5/exts/3/isaacsim.asset.importer.urdf-2.3.11+106.5.0.lx64.r.cp310/isaacsim/asset/importer/urdf/scripts/commands.py", line 145, in do
return self._urdf_interface.import_robot(
<class 'RuntimeError'> Used null prim
2025-01-31 10:30:56 [185,233ms] [Warning] [omni.kit.tool.asset_importer.importers_manager] Failed to convert assets ['/home/theobloesch/Documents/xArm6Curobo/xarm6.urdf'] since importer failed with Accessed invalid null prim.
2025-01-31 10:30:56 [185,291ms] [Error] [asyncio] Task exception was never retrieved
future: <Task finished name='Task-779' coro=<FileBrowserGridViewDelegate.update_grid.<locals>.refresh_thumbnails() done, defined at /home/theobloesch/isaacsim/extscache/omni.kit.widget.filebrowser-2.10.52+d02c707b/omni/kit/widget/filebrowser/grid_view.py:364> exception=UnicodeDecodeError('utf-8', b'pQ\x84\x07', 2, 3, 'invalid start byte')>
Traceback (most recent call last):
File "/home/theobloesch/isaacsim/extscache/omni.kit.widget.filebrowser-2.10.52+d02c707b/omni/kit/widget/filebrowser/grid_view.py", line 372, in refresh_thumbnails
self._custom_thumbnails = await model.root.get_custom_thumbnails_for_folder_async()
File "/home/theobloesch/isaacsim/extscache/omni.kit.widget.filebrowser-2.10.52+d02c707b/omni/kit/widget/filebrowser/model.py", line 363, in get_custom_thumbnails_for_folder_async
return await list_thumbnails_for_folder_async(self.path)
File "/home/theobloesch/isaacsim/extscache/omni.kit.widget.filebrowser-2.10.52+d02c707b/omni/kit/widget/filebrowser/thumbnails.py", line 142, in list_thumbnails_for_folder_async
thumbnail_dict[f"{url}/{entry.relative_path}"] = None
UnicodeDecodeError: 'utf-8' codec can't decode byte 0x84 in position 2: invalid start byte
2025-01-31 10:30:56 [185,293ms] [Error] [asyncio] Task exception was never retrieved
future: <Task finished name='Task-484' coro=<FileBrowserGridViewDelegate.update_grid.<locals>.refresh_thumbnails() done, defined at /home/theobloesch/isaacsim/extscache/omni.kit.widget.filebrowser-2.10.52+d02c707b/omni/kit/widget/filebrowser/grid_view.py:364> exception=UnicodeDecodeError('utf-8', b'pQ\x84\x07', 2, 3, 'invalid start byte')>
Traceback (most recent call last):
File "/home/theobloesch/isaacsim/extscache/omni.kit.widget.filebrowser-2.10.52+d02c707b/omni/kit/widget/filebrowser/grid_view.py", line 372, in refresh_thumbnails
self._custom_thumbnails = await model.root.get_custom_thumbnails_for_folder_async()
File "/home/theobloesch/isaacsim/extscache/omni.kit.widget.filebrowser-2.10.52+d02c707b/omni/kit/widget/filebrowser/model.py", line 363, in get_custom_thumbnails_for_folder_async
return await list_thumbnails_for_folder_async(self.path)
File "/home/theobloesch/isaacsim/extscache/omni.kit.widget.filebrowser-2.10.52+d02c707b/omni/kit/widget/filebrowser/thumbnails.py", line 142, in list_thumbnails_for_folder_async
thumbnail_dict[f"{url}/{entry.relative_path}"] = None
UnicodeDecodeError: 'utf-8' codec can't decode byte 0x84 in position 2: invalid start byte
Thanks in advance for your help
Best regards
Théo Bloesch