URDF exporter error

Omniverse Isaac Sim
1

I receive an error when I try to export pretty big usd file of the robot:


2023-11-07 13:04:40 [2,163,657ms] [Error] [omni.kit.app._impl] [py stderr]: [WARNING] [TransformGraph.1] - Prim '/Root/_1020000_211_AP214_clean/Geometry/_1020000_211_AP214_trial11_from_PARASOLID_0/_1020002_Movable__2704/_1019634_Movable__3576/_1019703_Movable__4078/_1019962_Movable__4254/_1019639_4305/Imported1_4306/SICK_TiM781' (type: 'Camera') not added to `TransformGraph` because it is not a link type or a joint type prim.

[WARNING] [TransformGraph.1] - Prim '/Root/_1020000_211_AP214_clean/Geometry/_1020000_211_AP214_trial11_from_PARASOLID_0/_1020002_Movable__2704/_1019634_Movable__3576/_1019703_Movable__4078/_1019962_Movable__4254/_1019639_4305/Imported1_4306/SICK_TiM781' (type: 'Camera') not added to `TransformGraph` because it is not a link type or a joint type prim.
2023-11-07 13:04:40 [2,163,667ms] [Error] [omni.ui.python] KeyError: ('/Root/_1020000_211_AP214_clean/Geometry/_1020000_211_AP214_trial11_from_PARASOLID_0/_1020002_Movable__2704/_1019634_Movable__3576/_1019703_Movable__4078/_1019962_Movable__4254/_1019639_4305/Imported1_4306/SICK_TiM781',)

At:
  /home/karavaev/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/transform_graph.py(686): _update_link_node
  /home/karavaev/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/transform_graph.py(585): _build_transform_graph
  /home/karavaev/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/transform_graph.py(286): init_from_stage
  /home/karavaev/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/to_urdf.py(70): __init__
  /home/karavaev/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.exporter.urdf/pip_prebundle/nvidia/srl/from_usd/to_urdf.py(126): init_from_file
  /home/karavaev/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.exporter.urdf/omni/exporter/urdf/ui_builder.py(195): _on_export_button_clicked_fn
  /home/karavaev/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.ui/omni/isaac/ui/element_wrappers/ui_widget_wrappers.py(854): _on_clicked_fn_wrapper

Unfortunately, I cannot share the model, since it’s under NDA. What can I do to debug it?

2

@karavaev per the log alone, it appears there’s a Camera prim in the file. is it possible for you to navigate through your file and see if that’s the case?

'/Root/_1020000_211_AP214_clean/Geometry/_1020000_211_AP214_trial11_from_PARASOLID_0/_1020002_Movable__2704/_1019634_Movable__3576/_1019703_Movable__4078/_1019962_Movable__4254/_1019639_4305/Imported1_4306/SICK_TiM781'

if it is found, try removing it before exporting again?

3

Removed it and now exporter just basically got stuck after I hit export button, nothing happens for 10 mins already and Isaac Sim is not responsive.

Console log

[137.585s] [ext: omni.exporter.urdf-0.1.1] startup
4

you did say it’s a big file, how big is it?

5

It’s 150 MB

6

just out of curiosity, which version of Isaac Sim are you using?

7

It’s 2023.1

8

@karavaev please try waiting while the asset gets converted to USD? bigger assets take more time to get parsed