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Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Bug] URDF Importer / URDF->USD conversion #885

Open martinmatak opened 1 month ago

martinmatak commented 1 month ago

EDIT: I reran everything, and this time there was no runtime error in the terminal output, but I got this as a result. Is this the expected outcome? When I press play in the GUI, the pieces simply disappear, not sure if that qualifies as if the mesh "collapses"? Screenshot from 2024-08-27 10-54-27

I am trying to follow this tutorial to convert anymal urdf into USD. However, the process dies with an error.

Steps to reproduce

# create a directory to clone
mkdir ~/git && cd ~/git
# clone a repository with URDF files
git clone https://github.com/isaac-orbit/anymal_d_simple_description.git

# go to top of the repository
cd IsaacLab
# run the converter
./isaaclab.sh -p source/standalone/tools/convert_urdf.py \
  ~/git/anymal_d_simple_description/urdf/anymal.urdf \
  source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/anymal_d.usd \
  --merge-joints \
  --make-instanceable

This is the output:

(isaaclab) mmatak@mmatakpc:~/pkgs/IsaacLab$ ./isaaclab.sh -p source/standalone/tools/convert_urdf.py \
  ~/git/anymal_d_simple_description/urdf/anymal.urdf \
  source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/anymal_d.usd \
  --merge-joints \
  --make-instanceable
[INFO] Using python from: /home/mmatak/miniconda3/envs/isaaclab/bin/python                                                                                                                                 
[INFO][AppLauncher]: Loading experience file: /home/mmatak/pkgs/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Starting kit application with the following args:  ['/home/mmatak/miniconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/mmatak/pkgs/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit', '--/app/tokens/exe-path=/home/mmatak/miniconda3/envs/isaaclab/lib/python3.10/site-packages/omni', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/mmatak/miniconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts', '--ext-folder', '/home/mmatak/miniconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/apps', '--/renderer/activeGpu=0', '--/physics/cudaDevice=0', '--portable', '--/app/window/hideUi=False']
Passing the following args to the base kit application:  ['/home/mmatak/git/anymal_d_simple_description/urdf/anymal.urdf', 'source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/anymal_d.usd', '--merge-joints', '--make-instanceable']
Loading user config located at: '/home/mmatak/miniconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.1/user.config.json'
[Info] [carb] Logging to file: /home/mmatak/miniconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.1/kit_20240827_102734.log
2024-08-27 16:27:34 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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|---------------------------------------------------------------------------------------------|
| Driver Version: 550.107.02    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3090 Ti       | Yes: 0 |     | 24810   MB | 10de      | 0          |
|     |                                  |        |     |            | 2203      | c01a46c4.. |
|     |                                  |        |     |            | 9         |            |
|=============================================================================================|
| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 6.8.0-40-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: AMD Ryzen 7 3700X 8-Core Processor | Cores: 8 | Logical: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64245 | Free Memory: 58841
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2024-08-27 16:27:35 [718ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
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2024-08-27 16:27:47 [12,468ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
Warp 1.2.1 initialized:
   CUDA Toolkit 11.8, Driver 12.4
   Devices:
     "cpu"      : "x86_64"
     "cuda:0"   : "NVIDIA GeForce RTX 3090 Ti" (24 GiB, sm_86, mempool enabled)
   Kernel cache:
     /home/mmatak/.cache/warp/1.2.1
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[12.934s] [ext: omni.kit.viewport.menubar.settings-106.0.1] startup
[12.945s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[12.946s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
2024-08-27 16:27:47 [13,038ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. File /home/mmatak/.nvidia-omniverse/config/omniverse.toml is not found. Consider installing it for better IO performance.
[13.056s] [ext: omni.kit.property.audio-1.0.11] startup
[13.060s] [ext: omni.kit.widget.calendar-1.0.8] startup
[13.065s] [ext: omni.kit.widget.stage_icons-1.0.4] startup
[13.075s] [ext: omni.hydra.scene_api-0.1.2] startup
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[13.115s] [ext: omni.kit.widget.extended_searchfield-1.0.28] startup
[13.128s] [ext: omni.kit.window.stage-2.5.10] startup
[13.136s] [ext: omni.kit.property.transform-1.5.1] startup
[13.143s] [ext: omni.kit.property.render-1.1.1] startup
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[13.152s] [ext: omni.kit.widget.timeline-105.0.1] startup
[13.156s] [ext: omni.kit.menu.stage-1.2.5] startup
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[13.162s] [ext: omni.kit.window.status_bar-0.1.6] startup
[13.170s] [ext: omni.kit.window.title-1.1.3] startup
[13.172s] [ext: omni.replicator.isaac-1.15.0] startup
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[13.234s] [ext: semantics.schema.editor-0.3.6] startup
[13.238s] [ext: semantics.schema.property-1.0.3] startup
[13.242s] [ext: omni.kit.window.script_editor-1.7.6] startup
[13.251s] [ext: omni.kit.profiler.window-2.2.1] startup
2024-08-27 16:27:48 [13,246ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[13.269s] [ext: omni.isaac.utils-1.0.1] startup
[13.275s] [ext: omni.isaac.cloner-0.8.1] startup
[13.280s] [ext: omni.kit.window.stats-0.1.6] startup
[13.282s] [ext: isaaclab.python-1.1.0] startup
[13.285s] Simulation App Starting
[15.751s] app ready
[17.027s] Simulation App Startup Complete
--------------------------------------------------------------------------------
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Input URDF file: /home/mmatak/git/anymal_d_simple_description/urdf/anymal.urdf
URDF importer config:
    asset_path: /home/mmatak/git/anymal_d_simple_description/urdf/anymal.urdf
    usd_dir: /home/mmatak/pkgs/IsaacLab/source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics
    usd_file_name: anymal_d.usd
    force_usd_conversion: True
    make_instanceable: True
    import_inertia_tensor: True
    fix_base: False
    merge_fixed_joints: True
    self_collision: False
    default_drive_type: none
    override_joint_dynamics: False
    default_drive_stiffness: 0.0
    default_drive_damping: 0.0
    link_density: 0.0
    convex_decompose_mesh: False
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
[17.214s] [ext: omni.importer.urdf-1.14.1] startup
2024-08-27 16:27:52 [17,501ms] [Error] [omni.usd] Runtime Error: in Open at line 893 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- Failed to open layer @/home/mmatak/pkgs/IsaacLab/source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/Props/instanceable_meshes.usd@

2024-08-27 16:27:52 [17,519ms] [Warning] [omni.importer.urdf] The path material_Default OBJ is not a valid usd path, modifying to material_Default_OBJ
URDF importer output:
Generated USD file: /home/mmatak/pkgs/IsaacLab/source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/anymal_d.usd
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
2024-08-27 16:27:54 [19,385ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /anymal/base/visuals.proto_mesh_5_id5 that has not been populated

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WYYAHYT commented 4 days ago

I got the same problem, the urdf file represent a dog, but the converted usd file seems not a dog.

image

Have you solved it yet? @martinmatak