URDF import as USD，the USD robot cannot be cloned in RL environment

Omniverse Isaac Sim
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Isaac Sim Version

5.1.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: 5070ti
  • Driver Version: 570

Use Isaaclab to build RL enviroment, I find the robot imported by urdf file cannot be cloned as panda_instanceable.usd or other instanceable usd file.

I use urdf importer to import my URDF robot to USD, and the robot cannot be clone as panda_instanceable.usd in RL env. I find only instanceable usd model is valid.But i dont know how to trans URDF to instanceable USD. And when i use {ISAAC_NUCLEUS_DIR}/Robots/UniversalRobots/ur10/ur10.usd, it also cannot be cloned.

Steps to Reproduce

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Additional Information

What I’ve Tried

I use the isaacLab/Source/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env.py to test, i add another ur10 ({ISAAC_NUCLEUS_DIR}/Robots/UniversalRobots/ur10/ur10.usd)， and failed as my own robot!

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45d609abeadb75e9ca3630d5aac8bca0803×504 86.4 KB

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be4d9d746c9bddd3543e374120a6b5cc1138×1109 126 KB

Related Issues

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Additional Context

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3

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