Issue Loading USD Files from Python Examples in Isaac Sim 4.2.0

[dtotsila]

Hello,

First of all, thank you for open-sourcing this library!

I'm encountering an issue when trying to load the USD files generated from the provided Python examples in Isaac Sim. Strangely, these scenes open normally in Blender. Additionally, if I export the scene from Blender, I can then load it in Isaac Sim without any issues.

Is this a known issue, or could there be a step I might have missed?

Any guidance would be greatly appreciated!

Thanks in advance,
Dionisis

P.S. the console logs are just these:
[Error] [omni.usd] Failed to open : /path/to/scene.usd
[Error] [omni.kit.window.file.file_window] Failed to open stage /path/to/scene.usd: Failed to open:/path/to/scene.usd

[clemense]

Hmmm, this is strange, and hard to debug without more information. If you can, you could share both USD files (the non-working one and the one that works after exporting from blender) and I can take a look at it.

I also wonder if there are more logging outputs available, I think you can write logs to a file by starting isaacsim with --/log/file=log.txt.

[skwirskj]

Hi!

Thank you for making this repo open-source.

I am encountering the same issue with IsaacSim 4.2.0, and using python 3.10.16. I have pasted part of the log file which includes the attempted opening and errors when trying to load the kitchen usd.

2025-02-06 19:15:33 [34,873ms] [Info] [omni.kit.window.content_browser.file_ops] Success! Opened '/tmp/kit.usd'.

2025-02-06 19:15:33 [34,920ms] [Info] [omni.kit.menu.utils.scripts.utils] omni.kit.menu.utils.rebuild_menus
2025-02-06 19:15:33 [34,995ms] [Info] [omni.replicator.core.scripts.orchestrator] Replicator Stop
2025-02-06 19:15:35 [37,065ms] [Info] [omni.usd] Loading /tmp/kit.usd

2025-02-06 19:15:35 [37,067ms] [Error] [omni.usd] Failed to open : /tmp/kit.usd
2025-02-06 19:15:35 [37,067ms] [Info] [omni.usd] /tmp/kit.usd opened unsuccessfully in 0.00 seconds

2025-02-06 19:15:35 [37,073ms] [Error] [omni.kit.window.file.file_window] Failed to open stage /tmp/kit.usd: Failed to open:/tmp/kit.usd
2025-02-06 19:15:44 [46,350ms] [Info] [omni.isaac.synthetic_recorder.synthetic_recorder_extension] Overwriting config file ~/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.synthetic_recorder/data/last_config.json.
2025-02-06 19:15:44 [46,354ms] [Info] [omni.replicator.core.scripts.orchestrator] Replicator Stop
2025-02-06 19:15:44 [46,355ms] [Info] [carb.crashreporter-breakpad.plugin] enabled: false
2025-02-06 19:15:44 [46,356ms] [Info] [carb] [Plugin: omni.sensors.tiled.plugin] Module ~/.local/share/ov/pkg/isaac-sim-4.2.0/extscache/omni.sensors.tiled-0.0.6+106.1.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2025-02-06 19:15:44 [46,365ms] [Info] [omni.graph.exec.unstable.passRegistry] IPassRegistry::deregisterPass: deregistered pass PopulateRenderingPass (pass id 12)
2025-02-06 19:15:44 [46,365ms] [Info] [omni.graph.exec.unstable.passRegistry] IPassRegistry::deregisterPass: deregistered pass PopulatePreRenderingPass (pass id 13)
2025-02-06 19:15:44 [46,365ms] [Info] [omni.graph.exec.unstable.passRegistry] IPassRegistry::deregisterPass: deregistered pass PopulatePostRenderingPass (pass id 14)
2025-02-06 19:15:44 [46,365ms] [Info] [omni.graph.exec.unstable.passRegistry] IPassRegistry::deregisterPass: deregistered pass PopulatePreRenderingDefPass (pass id 15)
2025-02-06 19:15:44 [46,365ms] [Info] [omni.graph.exec.unstable.passRegistry] IPassRegistry::deregisterPass: deregistered pass PopulatePostRenderingDefPass (pass id 16)
2025-02-06 19:15:44 [46,371ms] [Info] [omni.graph.exec.unstable.passRegistry] IPassRegistry::deregisterPass: deregistered pass ActionGraphPass (pass id 10)
2025-02-06 19:15:44 [46,371ms] [Info] [omni.graph.exec.unstable.passRegistry] IPassRegistry::deregisterPass: deregistered pass DependencyFoldPass (pass id 11)
2025-02-06 19:15:44 [46,387ms] [Info] [omni.graph.exec.unstable.passRegistry] IPassRegistry::deregisterPass: deregistered pass PassStronglyConnectedComponents (pass id 1)
2025-02-06 19:15:44 [46,388ms] [Info] [omni.core.ITypeFactory] Module ~/.local/share/ov/pkg/isaac-sim-4.2.0/extscache/omni.activity.core-1.0.1+10a4b5c0.lx64.r.cp310/bin/libomni.activity.core.plugin.so remained loaded after unload request.

I was also able to import the kit.usd file into blender 4.3.2 and then export it, allowing me to open it in IsaacSim, though I did have some errors but I could see the general structures without the textures:

2025-02-06 19:56:54 [21,384ms] [Info] [omni.usd] ~/Desktop/kit.usdc opened successfully in 0.00 seconds

2025-02-06 19:56:54 [21,387ms] [Info] [rtx.scenedb.plugin] [MBVH]: Creating scene acceleration structures for context 0, device mask: 0x1
2025-02-06 19:56:54 [21,388ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *MdlStates-Streaming
2025-02-06 19:56:54 [21,388ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *MdlStates-Failed
2025-02-06 19:56:54 [21,388ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *MdlStates-Deprecated
2025-02-06 19:56:54 [21,388ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *UsdPreviewSurfaceMonolithic
2025-02-06 19:56:54 [21,388ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *UsdPreviewSurfaceMonolithicLite
2025-02-06 19:56:54 [21,388ms] [Info] [rtx.neuraylib.plugin] Stored MdlEntitySnapshot to DB: usd::rtx_scope0::*MdlStates-Streaming::::MdlStates::Streaming((9))
2025-02-06 19:56:54 [21,388ms] [Info] [rtx.neuraylib.plugin] Stored MdlEntitySnapshot to DB: usd::rtx_scope0::*MdlStates-Failed::::MdlStates::CompileFailed((10))
2025-02-06 19:56:54 [21,388ms] [Info] [rtx.neuraylib.plugin] Stored MdlEntitySnapshot to DB: usd::rtx_scope0::*MdlStates-Deprecated::::MdlStates::Deprecated((11))
2025-02-06 19:56:54 [21,389ms] [Info] [rtx.neuraylib.plugin] Stored MdlEntitySnapshot to DB: usd::rtx_scope0::*UsdPreviewSurfaceMonolithic::::UsdPreviewSurfaceMonolithic::UsdPreviewSurfaceMonolithic((12))
2025-02-06 19:56:54 [21,389ms] [Info] [rtx.neuraylib.plugin] Stored MdlEntitySnapshot to DB: usd::rtx_scope0::*UsdPreviewSurfaceMonolithicLite::::UsdPreviewSurfaceMonolithicLite::UsdPreviewSurfaceMonolithicLite((13))
2025-02-06 19:56:54 [21,395ms] [Info] [omni.physx.plugin] Using CUDA device ordinal 0.
2025-02-06 19:56:54 [21,410ms] [Info] [omni.usd.audio] refreshing the USD scene state
2025-02-06 19:56:54 [21,423ms] [Info] [omni.kit.widget.layers.layer_model] Load sublayers of layer ~/Desktop/kit.usdc.
2025-02-06 19:56:54 [21,423ms] [Info] [omni.kit.widget.layers.layer_model] Load sublayers of layer anon:0x3e655ae0.
2025-02-06 19:56:54 [21,426ms] [Warning] [omni.hydratexture.plugin] '/Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0' is not a Usd.RenderProduct and cannot be used, reseting to '/Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0'
2025-02-06 19:56:54 [21,431ms] [Info] [omni.kit.widget.layers.layer_model] Load sublayers of layer /home/skwirskj/Desktop/kit.usdc.
2025-02-06 19:56:54 [21,431ms] [Info] [omni.kit.widget.layers.layer_model] Load sublayers of layer anon:0x3e655ae0.
2025-02-06 19:56:54 [21,578ms] [Info] [rtx.materialdb.plugin] Nonvisual material ID (0) was not set because legacy CSV was enabled by setting
2025-02-06 19:56:54 [21,588ms] [Info] [rtx.scenedb.plugin] Environment texture format was set to eAuto, guessing eMirroredBall format.
2025-02-06 19:56:54 [21,588ms] [Info] [rtx.scenedb.plugin] Environment texture resolution is 4 x 2.
2025-02-06 19:56:54 [21,588ms] [Info] [rtx.multigpumanager.plugin] View 0 (/Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0) assigned to device 0
2025-02-06 19:56:54 [21,588ms] [Info] [rtx.multigpumanager.plugin] View 0 (/Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0) switching to 1x1 layout
2025-02-06 19:56:54 [21,603ms] [Error] [rtx.scenedb.plugin] MirroredBall environment format not supported yet.

I am unable to attach the usd file from the example code nor the usdc file that was exported from blender. Let me know if there's anything else I can help with!

[clemense]

Does the same happen with the latest IsaacSim (4.5.0) ? See: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html

I can't reproduce the error with that version.

[skwirskj]

I just installed IsaacSim 4.5.0 and tried loading the kit.usd file without success. I got this error:

2025-02-10 16:22:12 [41,302ms] [Info] [omni.kit.window.content_browser.file_ops] Success! Opened '/tmp/kit.usd'.

2025-02-10 16:22:13 [42,685ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *MdlStates-Streaming
2025-02-10 16:22:13 [42,685ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *MdlStates-Failed
2025-02-10 16:22:13 [42,685ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *MdlStates-Deprecated
2025-02-10 16:22:13 [42,685ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *UsdPreviewSurfaceMonolithic
2025-02-10 16:22:13 [42,685ms] [Info] [rtx.neuraylib.plugin] Deleted MdlEntity for prim: *UsdPreviewSurfaceMonolithicLite
2025-02-10 16:22:13 [42,708ms] [Info] [omni.kit.menu.utils.utils] omni.kit.menu.utils.refresh_menu_items Replicator
2025-02-10 16:22:13 [42,708ms] [Info] [omni.replicator.core.scripts.orchestrator] Replicator Stop
2025-02-10 16:22:13 [42,709ms] [Info] [omni.usd-abi.plugin] IRenderSettingsContext destroying Usd value-cache for 9223001
2025-02-10 16:22:14 [42,887ms] [Info] [omni.kit.widget.cache_indicator.cache_state_menu] update_cache_state: Hub Enabled: True, Cache Enable: False
2025-02-10 16:22:14 [42,887ms] [Info] [omni.kit.widget.cache_indicator.cache_state_menu] Changing UI to state: UIState.HUB_RUNNING
2025-02-10 16:22:14 [42,892ms] [Info] [omni.kit.widget.cache_indicator.cache_state_menu] Lets check if there is a new version on resource: hub_workstation_cache
2025-02-10 16:22:14 [42,892ms] [Info] [omni.kit.widget.cache_indicator.cache_state_menu] get_latest_version URI: https://api.ngc.nvidia.com/v2/resources/nvidia/omniverse/hub_workstation_cache/versions?page-size=3&page-number=0&sort-order=CREATED_DATE_DESC
2025-02-10 16:22:14 [42,895ms] [Info] [omni.usd] Loading /tmp/kit.usd

2025-02-10 16:22:14 [42,896ms] [Error] [omni.usd] Failed to open : /tmp/kit.usd
2025-02-10 16:22:14 [42,896ms] [Info] [omni.usd] /tmp/kit.usd opened unsuccessfully in 0.00 seconds

2025-02-10 16:22:14 [42,904ms] [Error] [omni.kit.window.file.file_window] Failed to open stage /tmp/kit.usd: Failed to open:/tmp/kit.usd

Did you install any of the extra packs for IsaacSim or any assets?

[clemense]

I didn't install any extra packs or extensions.

Here's a screencast, I'm just using the default installation of IsaacSim 4.5 and scene_synthesizer in a Python console, nothing else:

isaacsim4.5_scene_synthesizer.mp4

[skwirskj]

@clemense thanks for sending that! I followed the same steps but still got an error when loading. I will try some more, but please let me know if you or anyone else is able to reproduce. Thanks!

[dtotsila]

Hello again! My logs are similar to those of @skwirskj. In case it's helpful, when I use the Isaac Sim 4.2.0 container and load the generated usd models via the Isaac Sim API, everything works as expected.

[clemense]

Thanks! What would also be helpful if you could tell me the usd-core version:

python -c "from pxr import Usd; print(Usd.GetVersion())"

I'm using (0, 24, 8) in the example above.

And in addition - if possible - we could compare the USD output itself:

python -c "from scene_synthesizer import procedural_scenes as ps; k = ps.kitchen_single_wall(seed=1); k.export('/tmp/kit.usd')"

And then upload the file kit.usd here.

[dohyun1411]

@clemense Hi, it seems usd-core>=25.2 causes the error. I checked the kit.usd generated by:
python -c "from scene_synthesizer import procedural_scenes as ps; k = ps.kitchen_single_wall(seed=1); k.export('/tmp/kit.usd')",
and it worked when usd-core==24.8

But when I open the USD generated by:
python examples/add_random_mdl_materials.py,
some errors and warnings occur:

2025-02-24 08:11:31 [307,532ms] [Warning] [omni.hydra] Parameter 'project_uvw' of shade node 'usd::rtx_scope0::/world/Looks/Silver_Foil/Shader::::Z6Ahttp_3A_2F::Z59omniverse_2Dcontent_2Dproduction_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::Materials::vMaterials_2::Metal::Silver_Foil::Silver_Foil((28))' not available in the MDL representation.
2025-02-24 08:11:31 [307,541ms] [Warning] [omni.hydra] Parameter 'project_uvw' of shade node 'usd::rtx_scope0::/world/Looks/Tinted_Glass_R75/Shader::::Z6Ahttp_3A_2F::Z59omniverse_2Dcontent_2Dproduction_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::Materials::Base::Glass::Tinted_Glass_R75::Tinted_Glass_R75((29))' not available in the MDL representation.
2025-02-24 08:11:31 [307,541ms] [Warning] [omni.hydra] Parameter 'texture_scale' of shade node 'usd::rtx_scope0::/world/Looks/Tinted_Glass_R75/Shader::::Z6Ahttp_3A_2F::Z59omniverse_2Dcontent_2Dproduction_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::Materials::Base::Glass::Tinted_Glass_R75::Tinted_Glass_R75((29))' not available in the MDL representation.
2025-02-24 08:11:31 [307,546ms] [Warning] [omni.hydra] Parameter 'project_uvw' of shade node 'usd::rtx_scope0::/world/Looks/Aluminum_Brushed/Shader::::Z6Ahttp_3A_2F::Z59omniverse_2Dcontent_2Dproduction_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::Materials::vMaterials_2::Metal::Aluminum_Brushed::Aluminum_Brushed((30))' not available in the MDL representation.
2025-02-24 08:11:31 [307,798ms] [Error] [omni.hydra] [UsdToMdl] Prim '/world/Looks/Paint_Eggshell_Vanilla/Shader' parameter 'texture_scale': Reached invalid assignment. Tried to assign a 'GfVec2f'(USD) to a 'float'(MDL).

Has anyone solved this issue?

[arhanjain]

can confirm downgrading usd-core resolves the "Failed to open stage" issue

[clemense]

Hmm, strange, I can't reproduce the issue: I created two example files with both versions and compared the results... no difference (i also loaded both successfully in Isaac Sim 4.5.0):

python -m pip install usd-core==24.8
python -c "from scene_synthesizer import procedural_scenes as ps; k = ps.kitchen_single_wall(seed=1); k.export('/tmp/kit_248.usda')"

python -m pip install usd-core==25.2
python -c "from scene_synthesizer import procedural_scenes as ps; k = ps.kitchen_single_wall(seed=1); k.export('/tmp/kit_252.usda')"

diff /tmp/kit_248.usda /tmp/kit_252.usda  # no output, meaning the files are identical