Isaac Sim Version
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
Topic Description
Hi all,
I’m encountering a URDF export error in Isaac Sim when trying to export a hand model. The error message says the joint transforms of right_wrist are not consistent.
Error Messages
2025-05-26 00:42:38 [1,278,323ms] [Error] [omni.ui.python] ValueError: The ‘right_wrist’'s joint transforms are not consistent.
global___joint_via_parent:
[[ 0.99991778 -0.00107529 0.01277769 0.01262659]
[ 0.00121027 0.9999435 -0.01056059 -0.00192864]
[-0.01276562 0.01057519 0.99986259 0.15084681]
[ 0. 0. 0. 1. ]]
global___joint_via_child:
[[ 0.99991778 -0.00167431 0.01271308 0.01262657]
[ 0.00121028 0.99933581 0.03642067 -0.00192864]
[-0.01276562 -0.03640229 0.99925568 0.15084675]
[ 0. 0. 0. 1. ]]
At:
/home/tao/miniconda3/envs/isaaclab45/lib/python3.10/site-packages/isaacsim/exts/isaacsim.asset.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/transform_graph.py(816): _update_joint_node
/home/tao/miniconda3/envs/isaaclab45/lib/python3.10/site-packages/isaacsim/exts/isaacsim.asset.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/transform_graph.py(686): _build_transform_graph
/home/tao/miniconda3/envs/isaaclab45/lib/python3.10/site-packages/isaacsim/exts/isaacsim.asset.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/transform_graph.py(340): init_from_stage
/home/tao/miniconda3/envs/isaaclab45/lib/python3.10/site-packages/isaacsim/exts/isaacsim.asset.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/to_urdf.py(74): init
/home/tao/miniconda3/envs/isaaclab45/lib/python3.10/site-packages/isaacsim/exts/isaacsim.asset.exporter.urdf/isaacsim/asset/exporter/urdf/ui_builder.py(267): _on_export_button_clicked_fn
/home/tao/miniconda3/envs/isaaclab45/lib/python3.10/site-packages/isaacsim/exts/isaacsim.gui.components/isaacsim/gui/components/element_wrappers/ui_widget_wrappers.py(886): _on_clicked_fn_wrapper
/home/tao/miniconda3/envs/isaaclab45/lib/python3.10/site-packages/omni/kit_app.py(128): update
/home/tao/miniconda3/envs/isaaclab45/lib/python3.10/site-packages/isaacsim/init.py(163): main
/home/tao/miniconda3/envs/isaaclab45/bin/isaacsim(8):
Additional Context
hand14.usd.zip (1.4 MB)