[Question] Missing References for Visual and Collision Attributes When Loading Local .usd Files

[yilin404]

I appreciate your hard work on this project, and I hope to contribute by sharing an issue I've encountered. Description: When using sim_utils.UsdFileCfg in Isaac Sim to import a .usd file, I encounter a warning message stating Missing references found for visual and collision attributes. However, I can successfully import the .usd file by dragging and dropping it, and it displays correctly. My code is:

CABINET_CFG = ArticulationCfg(
        prim_path="/World/envs/env_.*/Cabinet",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"{LOCAL_ISAAC_NUCLEUS_DIR}/Props/Sektion_Cabinet/sektion_cabinet_instanceable.usd",
            activate_contact_sensors=False,
        ),
        init_state=ArticulationCfg.InitialStateCfg(
            pos=(0.8, 0, 0.0),
            rot=(0.0, 0.0, 0.0, 1.0),
            joint_pos={
                "door_left_joint": 0.0,
                "door_right_joint": 0.0,
                "drawer_bottom_joint": 0.0,
                "drawer_top_joint": 0.0,
            },
        ),
        actuators={
            "drawers": ImplicitActuatorCfg(
                joint_names_expr=["drawer_top_joint", "drawer_bottom_joint"],
                effort_limit=87.0,
                velocity_limit=100.0,
                stiffness=10.0,
                damping=1.0,
            ),
            "doors": ImplicitActuatorCfg(
                joint_names_expr=["door_left_joint", "door_right_joint"],
                effort_limit=87.0,
                velocity_limit=100.0,
                stiffness=10.0,
                damping=2.5,
            ),
        },
    )

And the result is: And when i dragg and dropp it into Isaac Sim, the result is: My Analysis: I suspect this issue may be related to the relative path of the file, but I haven’t been able to resolve it. If you have any insights or suggestions, they would be greatly appreciated.

Thank you very much for your time and help!

[AsawareeBhide]

Hi! Seems like something to do with how the USD path is set in ISAAC_NUCLEUS_DIR. I imported this cabinet asset while running the franka_cabinet_env.py example and didn't observe the issue you're seeing. Could you please confirm if the import statements in your code match those in the franka_cabinet_env example?