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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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URDF Importer fails to load meshes for all robots on isaac-sim-2023.1.0-hotfix.1 #167

Closed sjauhri closed 9 months ago

sjauhri commented 9 months ago

Please provide the below information in addition to your issue:

  1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): Isaac Sim
  2. python version: 3.10.13
  3. Isaac Sim version (if using): isaac-sim-2023.1.0-hotfix.1

Issue Details

URDF import does not load the meshes for the franka and most other robots (when calling either examples/isaac_sim/motion_gen_reacher.py or examples/isaac_sim/load_all_robots.py). Isaac sim complains that the files are broken: [Warning] [omni.importer.urdf] Asset convert failed as asset file is broken. Prim /World/panda/panda_rightfinger/visuals not created. For collisions, it also throws the error: [Error] [omni.physicsschema.plugin] Provided mesh geom with a PhysicsCollisionAPI does not have points, collision will not be created. Prim: /World/panda/panda_link3/collisions Specifically, the error comes at line 96 in helper.py: https://github.com/NVlabs/curobo/blob/286b3820a5a018f9ff1a4df8d7b998dc3e456791/examples/isaac_sim/helper.py#L96

It's a very strange error since nothing seems out of place here. All the files are at the locations they should be and the config correctly points to them. The function call also seems to have the correct parameters.

I've also verified that the urdf importer does successfully import panda meshes when using the default isaac sim importer and its files:

omni.kit.commands.execute(
                "URDFParseAndImportFile",
                urdf_path=self._extension_path + "/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf",
                import_config=import_config,
            )
balakumar-s commented 9 months ago

The meshes in curobo are stored in lfs, can you check if the mesh files are not just pointers and contain mesh data?

If they are pointers, try git lfs pull

sjauhri commented 9 months ago

[Update, SOLVED]: I was able to solve the issue by replacing the mesh files at "curobo/src/curobo/content/assets/robot/franka_description/meshes" with the mesh files provided by standalone isaac sim at "isaac_sim-2023.1.0-hotfix.1/extscache/omni.importer.urdf-1.1.3+105.1.lx64.r.cp310/data/urdf/robots/franka_description"

sjauhri commented 9 months ago

The meshes in curobo are stored in lfs, can you check if the mesh files are not just pointers and contain mesh data?

If they are pointers, try git lfs pull

Ah thanks! This seems to be the problem. They were just pointers...