isaac-sim crashed when opening usd file for configuring new robot

[denzelzheng]

isaac-sim 2022.2.1 pass all tests i tried to configuring new robot urdf file:

<?xml version="1.0"?>
<!-- ======================================================================== -->
<!-- | Flexiv Rizon4 Arm (with approximated dynamic parameters)             | -->
<!-- ======================================================================== -->
<robot name="A02L_MP">

  <joint name="joint0" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="world" />
    <child link="base_link" />
  </joint>
  <joint name="joint1" type="revolute">
    <parent link="base_link" />
    <child link="link1" />
    <origin rpy="0 0 3.141592653589793" xyz="0.0 0.0 0.155" />
    <axis xyz="0 0 1" />
    <limit effort="123" lower="-2.7925" upper="2.7925" velocity="2.0944" />
  </joint>
  <joint name="joint2" type="revolute">
    <parent link="link1" />
    <child link="link2" />
    <origin rpy="0 0 0" xyz="0.0 0.03 0.210" />
    <axis xyz="0 1 0" />
    <limit effort="123" lower="-2.2689" upper="2.2689" velocity="2.0944" />
  </joint>
  <joint name="joint3" type="revolute">
    <parent link="link2" />
    <child link="link3" />
    <origin rpy="0 0 0" xyz="0.0 0.035 0.205" />
    <axis xyz="0 0 1" />
    <limit effort="64" lower="-2.9671" upper="2.9671" velocity="2.4435" />
  </joint>
  <joint name="joint4" type="revolute">
    <parent link="link3" />
    <child link="link4" />
    <origin rpy="0 0 -3.141592653589793" xyz="-0.02 -0.03 0.19" />
    <axis xyz="0 1 0" />
    <limit effort="64" lower="-1.8675" upper="2.6878" velocity="2.4435" />
  </joint>
  <joint name="joint5" type="revolute">
    <parent link="link4" />
    <child link="link5" />
    <origin rpy="0 0 -3.141592653589793" xyz="-0.02 0.025 0.195" />
    <axis xyz="0 0 1" />
    <limit effort="39" lower="-2.9671" upper="2.9671" velocity="4.8869" />
  </joint>
  <joint name="joint6" type="revolute">
    <parent link="link5" />
    <child link="link6" />
    <origin rpy="0 0 0" xyz="0.0 0.03 0.19" />
    <axis xyz="0 1 0" />
    <limit effort="39" lower="-1.3963" upper="4.5379" velocity="4.8869" />
  </joint>
  <joint name="joint7" type="revolute">
    <parent link="link6" />
    <child link="link7" />
    <origin rpy="0 -1.5707963267948966 0" xyz="-0.055 0.070 0.11" />
    <axis xyz="0 0 1" />
    <limit effort="39" lower="-2.9671" upper="2.9671" velocity="4.8869" />
  </joint>

  <joint name="link7_to_flange" type="fixed">
    <parent link="link7" />
    <child link="flange" />
    <origin rpy="0 0 -3.141592653589793" xyz="0.0 0.0 0.081" />
  </joint>

  <link name="world" />
  <link name="base_link">
    <inertial>
      <mass value="3.7" />
      <origin rpy="0 0 0" xyz="0.0 -0.0 0.09" />
      <inertia ixx="0.019" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.009" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/visual/link0.stl" />
      </geometry>
      <material name="rizon_light_grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/collision/link0.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link1">
    <inertial>
      <mass value="3.7" />
      <origin rpy="0 0 0" xyz="0.0 0.01 0.15" />
      <inertia ixx="0.028" ixy="0.0" ixz="0.0" iyy="0.027" iyz="0.002" izz="0.008" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/visual/link1.stl" />
      </geometry>
      <material name="rizon_light_grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/collision/link1.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link2">
    <inertial>
      <mass value="2.7" />
      <origin rpy="0 0 0" xyz="0.0 0.04 0.1" />
      <inertia ixx="0.023" ixy="0.0" ixz="0.0" iyy="0.024" iyz="-0.0" izz="0.004" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/visual/link2.stl" />
      </geometry>
      <material name="rizon_light_grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/collision/link2.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link3">
    <inertial>
      <mass value="2.4" />
      <origin rpy="0 0 0" xyz="-0.01 -0.0 0.13" />
      <inertia ixx="0.014" ixy="0.0" ixz="-0.001" iyy="0.014" iyz="-0.001" izz="0.004" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/visual/link3.stl" />
      </geometry>
      <material name="rizon_light_grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/collision/link3.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link4">
    <inertial>
      <mass value="2.4" />
      <origin rpy="0 0 0" xyz="-0.01 0.03 0.1" />
      <inertia ixx="0.018" ixy="0.0" ixz="-0.002" iyy="0.019" iyz="-0.001" izz="0.003" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/visual/link4.stl" />
      </geometry>
      <material name="rizon_light_grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/collision/link4.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link5">
    <inertial>
      <mass value="2.4" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.13" />
      <inertia ixx="0.014" ixy="0.0" ixz="0.0" iyy="0.013" iyz="0.001" izz="0.004" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/visual/link5.stl" />
      </geometry>
      <material name="rizon_light_grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/collision/link5.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link6">
    <inertial>
      <mass value="2.1" />
      <origin rpy="0 0 0" xyz="-0.01 0.06 0.07" />
      <inertia ixx="0.008" ixy="-0.0" ixz="-0.001" iyy="0.009" iyz="0.002" izz="0.004" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/visual/link6.stl" />
      </geometry>
      <material name="rizon_light_grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/collision/link6.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link7">
    <inertial>
      <mass value="0.8" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.03" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/visual/link7.stl" />
      </geometry>
      <material name="rizon_light_grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/collision/link7.stl" />
      </geometry>
    </collision>
  </link>

  <link name="flange" />

  <!-- material 
  <material name="rizon_blue">
    <color rgba="0. 0. 1. 0.5" />
  </material>
  <material name="rizon_light_grey">
    <color rgba="0.7 0.7 0.7 1" />
  </material>
  <material name="rizon_dark_grey">
    <color rgba="0.2 0.2 0.2 1" />
  </material>
  <material name="rizon_white">
    <color rgba="1 1 1 1" />
  </material>-->
</robot>

flexiv.json

and successfully generate a usd file: flexiv_usd.json

but when opening usd by isaac-sim, it crashed

[balakumar-s]

What is printed in the terminal?

Also is this urdf available online with the meshes?

[balakumar-s]

Also I noticed that your usd is being names with .json while it should be flexiv_usd.usd. Can you try renaming it to .usd to see if that's the issue?

[denzelzheng]

Also I noticed that your usd is being names with .json while it should be flexiv_usd.usd. Can you try renaming it to .usd to see if that's the issue?

in issue it cant upload usd file, so i rename it to json

[balakumar-s]

The usd file you shared loads on my machine on Isaac Sim 2023.1.0 :

Are you not able to drag and drop the usd file into Isaac Sim?

The file did not open for me in Isaac Sim 2022.2.1. Can you update to Isaac Sim 2023.1.0 and try?

[denzelzheng]

The usd file you shared loads on my machine on Isaac Sim 2023.1.0 :

Are you not able to drag and drop the usd file into Isaac Sim?

The file did not open for me in Isaac Sim 2022.2.1. Can you update to Isaac Sim 2023.1.0 and try?

yeah cant open it by 2022, ill try 2023

[balakumar-s]

Closing issue as it's fixed in 2023. Re-open if you find it not working in 2023