Isaaclab.sh / convert_mjcf.py doesn't exit after complete

j_gillick · July 12, 2025, 10:38pm

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

Model: NVIDIA A10G
Driver Version: 535.247.01

Topic Description

Detailed Description

I’m running Isaac headless on AWS and when I run the convert_mjcf.py python script to convert a mujoco model to USD, it successfully creates the USD files but then never exits.

Steps to Reproduce

Looking at the instructions, here
Run: ./isaaclab.sh -p scripts/tools/convert_mjcf.py <MUJOCO XML INPUT> <USD OUTPUT>
After Isaac Sim starup output, it generates the USD files with the output: "MJCF importer output: Generated USD file: <USD OUTPUT>"
Script does not exit.

Since I’m running this headless, and trying to setup things through remote automated scripts, it’s important that the script exit correctly.

Error Logs

Here are errors that are generated during the script execution. Most of these are before the USD is generated and I’m assuming because it’s not running in a windows environment.

2025-07-12 22:34:33 [1,930ms] [Error] [omni.appwindow.plugin] Failed to acquire IWindowing interface
2025-07-12 22:34:33 [1,930ms] [Error] [omni.appwindow.plugin] IAppWindow::startup failed
2025-07-12 22:34:34 [2,425ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:34:34 [2,425ms] [Error] [omni.ui.python] AttributeError: 'NoneType' object has no attribute 'get_window_minimize_event_stream'

At:
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/window.py(136): __init__
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(203): __show_window
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(139): <lambda>
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(141): __init__
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(250): <listcomp>
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(249): create_viewport_window_menu
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/extension.py(37): on_startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(164): _startup_ext
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(224): startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): __init__
  /home/ubuntu/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(781): _create_app
  /home/ubuntu/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__
  /home/ubuntu/IsaacLab/scripts/tools/convert_mjcf.py(57): <module>

2025-07-12 22:34:34 [2,489ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:34:37 [5,883ms] [Error] [carb.scripting-python.plugin] AttributeError: 'NoneType' object has no attribute 'get_keyboard'

At:
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/physxViewportOverlays.py(64): _attach_keyboard_events
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/physxViewportOverlays.py(57): on_startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/extension.py(116): on_startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(166): _startup_ext
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(224): startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): __init__
  /home/ubuntu/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(781): _create_app
  /home/ubuntu/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__
  /home/ubuntu/IsaacLab/scripts/tools/convert_mjcf.py(57): <module>

2025-07-12 22:34:37 [5,883ms] [Error] [omni.ext.plugin] [ext: omni.physx.ui-106.5.7] Failed to startup python extension.
2025-07-12 22:34:42 [10,385ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:34:42 [10,390ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:34:42 [10,458ms] [Error] [omni.kit.menu.utils.app_menu] Hotkeys cannot be setup without a default window
2025-07-12 22:34:49 [17,530ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:34:49 [17,531ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:34:49 [17,738ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:34:49 [17,738ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window

All Logs

Here’s the full log output

[INFO] Using python from: /home/ubuntu/env_isaaclab/bin/python
[INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /home/ubuntu/IsaacLab/apps/isaaclab.python.kit
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.5/user.config.json'
[Info] [carb] Logging to file: /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.5/kit_20250712_223656.log
2025-07-12 22:36:56 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
2025-07-12 22:36:56 [6ms] [Warning] [omni.ext.plugin] [ext: rendering_modes] Extensions config 'extension.toml' doesn't exist '/home/ubuntu/IsaacLab/apps/rendering_modes' or '/home/ubuntu/IsaacLab/apps/rendering_modes/config'
[0.078s] [ext: omni.kit.async_engine-0.0.1] startup
[0.284s] [ext: omni.metrics.core-0.0.1] startup
[0.284s] [ext: omni.client.lib-1.0.0] startup
[0.319s] [ext: omni.blobkey-1.1.2] startup
[0.319s] [ext: omni.stats-1.0.1] startup
[0.321s] [ext: omni.datastore-0.0.0] startup
[0.328s] [ext: omni.client-1.2.2] startup
[0.334s] [ext: omni.ujitso.default-1.0.0] startup
[0.337s] [ext: omni.hsscclient-1.1.1] startup
2025-07-12 22:36:57 [314ms] [Warning] [omni.datastore] OmniHub is inaccessible
[0.341s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[0.346s] [ext: omni.assets.plugins-0.0.0] startup
[0.348s] [ext: omni.gpu_foundation-0.0.0] startup
[0.359s] [ext: carb.windowing.plugins-1.0.0] startup
2025-07-12 22:36:57 [336ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-12 22:36:57 [336ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
[0.360s] [ext: omni.kit.renderer.init-0.0.0] startup
2025-07-12 22:36:57 [349ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
2025-07-12 22:36:57 [604ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-12 22:36:57 [604ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)

|---------------------------------------------------------------------------------------------|
| Driver Version: 535.247.01    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA A10G                      | Yes: 0 |     | 23028   MB | 10de      | 0          |
|     |                                  |        |     |            | 2237      | 96fb2351.. |
|     |                                  |        |     |            | 0         |            |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-1031-aws
| Processor: AMD EPYC 7R32
| Cores: 4 | Logical Cores: 8
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31722 | Free Memory: 29804
| Total Page/Swap (MB): 32767 | Free Page/Swap: 32767
|---------------------------------------------------------------------------------------------|
2025-07-12 22:36:58 [1,343ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
[1.593s] [ext: omni.kit.pipapi-0.0.0] startup
[1.595s] [ext: omni.materialx.libs-1.0.6] startup
[1.604s] [ext: omni.kit.pip_archive-0.0.0] startup
[1.604s] [ext: omni.usd.config-1.0.5] startup
[1.609s] [ext: omni.gpucompute.plugins-0.0.0] startup
[1.610s] [ext: omni.usd.libs-1.0.1] startup
[1.707s] [ext: omni.mdl-55.0.1] startup
[1.730s] [ext: omni.iray.libs-0.0.0] startup
[1.736s] [ext: omni.mdl.neuraylib-0.2.10] startup
[1.739s] [ext: omni.kit.usd.mdl-1.0.7] startup
[1.859s] [ext: omni.kit.loop-isaac-1.2.1] startup
[1.860s] [ext: omni.kit.test-1.1.2] startup
[1.920s] [ext: omni.kit.telemetry-0.5.1] startup
[1.957s] [ext: omni.appwindow-1.1.9] startup
2025-07-12 22:36:58 [1,936ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-12 22:36:58 [1,936ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-07-12 22:36:58 [1,938ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-12 22:36:58 [1,938ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-07-12 22:36:58 [1,938ms] [Error] [omni.appwindow.plugin] Failed to acquire IWindowing interface
2025-07-12 22:36:58 [1,938ms] [Error] [omni.appwindow.plugin] IAppWindow::startup failed
[1.964s] [ext: omni.kit.renderer.core-1.0.2] startup
2025-07-12 22:36:58 [1,970ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-12 22:36:58 [1,970ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
[1.996s] [ext: omni.kit.renderer.capture-0.0.0] startup
[2.000s] [ext: omni.kit.renderer.imgui-1.0.2] startup
2025-07-12 22:36:58 [1,983ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-07-12 22:36:58 [1,983ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-07-12 22:36:58 [1,983ms] [Warning] [omni.ui.windowmanager.plugin] Failed to set app window for default window set!
[2.011s] [ext: omni.ui-2.26.5] startup
[2.024s] [ext: omni.kit.mainwindow-1.0.3] startup
[2.025s] [ext: carb.audio-0.1.0] startup
[2.031s] [ext: omni.uiaudio-1.0.0] startup
[2.032s] [ext: omni.kit.uiapp-0.0.0] startup
[2.032s] [ext: omni.usd.schema.metrics.assembler-106.5.0] startup
[2.043s] [ext: isaacsim.robot.schema-3.1.2] startup
[2.052s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[2.058s] [ext: omni.usd.schema.audio-0.0.0] startup
[2.062s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[2.067s] [ext: omni.usd.schema.anim-0.0.0] startup
[2.090s] [ext: omni.usd.schema.forcefield-106.5.7] startup
[2.102s] [ext: omni.usd.schema.physx-106.5.7] startup
[2.131s] [ext: omni.usd.schema.semantics-0.0.0] startup
[2.134s] [ext: omni.usd.schema.geospatial-0.0.0] startup
[2.137s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
[2.142s] [ext: omni.resourcemonitor-107.0.0] startup
[2.144s] [ext: omni.activity.core-1.0.1] startup
[2.146s] [ext: omni.timeline-1.0.11] startup
[2.148s] [ext: omni.usd_resolver-1.0.0] startup
[2.153s] [ext: omni.kit.widget.nucleus_connector-1.1.10] startup
[2.155s] [ext: usdrt.scenegraph-7.5.1] startup
[2.204s] [ext: omni.usd.core-1.4.2] startup
[2.208s] [ext: omni.kit.usd_undo-0.1.8] startup
[2.208s] [ext: omni.graph.exec-0.9.4] startup
[2.209s] [ext: omni.kit.actions.core-1.0.0] startup
[2.212s] [ext: omni.kit.audiodeviceenum-1.0.1] startup
[2.213s] [ext: omni.kit.exec.core-0.13.4] startup
[2.216s] [ext: omni.kit.commands-1.4.9] startup
[2.220s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
[2.233s] [ext: omni.hydra.scene_delegate-0.3.3] startup
[2.239s] [ext: omni.usd-1.12.4] startup
[2.290s] [ext: omni.kit.asset_converter-2.8.3] startup
[2.304s] [ext: omni.volume-0.5.0] startup
[2.312s] [ext: omni.ujitso.processor.texture-1.0.0] startup
[2.314s] [ext: omni.index.libs-380600.1777.0] startup
[2.314s] [ext: omni.ujitso.client-0.0.0] startup
[2.315s] [ext: omni.index-1.0.1] startup
[2.316s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
[2.317s] [ext: omni.ui.scene-1.11.2] startup
[2.323s] [ext: omni.hydra.rtx-1.0.0] startup
2025-07-12 22:36:59 [2,308ms] [Warning] [omni.log] Source: omni.hydra was already registered.
[2.351s] [ext: omni.kit.menu.core-1.1.2] startup
[2.352s] [ext: omni.kit.viewport.scene_camera_model-1.0.5] startup
[2.358s] [ext: omni.kit.hydra_texture-1.4.0] startup
[2.363s] [ext: omni.kit.menu.utils-1.7.7] startup
[2.371s] [ext: omni.kit.widget.viewport-107.0.7] startup
[2.375s] [ext: omni.kit.viewport.registry-104.0.6] startup
[2.376s] [ext: omni.kit.clipboard-1.0.5] startup
[2.377s] [ext: omni.kit.notification_manager-1.0.9] startup
[2.379s] [ext: omni.kit.helper.file_utils-0.1.9] startup
[2.380s] [ext: omni.kit.widget.path_field-2.0.11] startup
[2.381s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[2.384s] [ext: omni.kit.widget.context_menu-1.2.4] startup
[2.386s] [ext: omni.kit.widget.filebrowser-2.10.52] startup
[2.391s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
[2.392s] [ext: omni.kit.viewport.legacy_gizmos-1.0.16] startup
[2.395s] [ext: omni.kit.widget.options_button-1.0.3] startup
[2.396s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
[2.397s] [ext: omni.kit.usd.layers-2.2.0] startup
[2.406s] [ext: omni.kit.window.filepicker-2.11.7] startup
[2.420s] [ext: omni.kit.widget.settings-1.2.2] startup
[2.423s] [ext: omni.kit.context_menu-1.8.3] startup
[2.425s] [ext: omni.kit.window.file_importer-1.1.14] startup
[2.428s] [ext: omni.kit.window.preferences-1.7.0] startup
[2.432s] [ext: omni.kit.window.drop_support-1.0.4] startup
[2.432s] [ext: omni.kit.raycast.query-1.0.5] startup
[2.439s] [ext: omni.kit.material.library-1.5.15] startup
[2.445s] [ext: omni.hydra.engine.stats-1.0.3] startup
[2.448s] [ext: isaacsim.core.throttling-2.0.2] startup
[2.449s] [ext: omni.kit.viewport.window-107.0.8] startup
2025-07-12 22:36:59 [2,430ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:36:59 [2,430ms] [Error] [omni.ui.python] AttributeError: 'NoneType' object has no attribute 'get_window_minimize_event_stream'

At:
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/window.py(136): __init__
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(203): __show_window
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(139): <lambda>
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(141): __init__
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(250): <listcomp>
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(249): create_viewport_window_menu
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/extension.py(37): on_startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(164): _startup_ext
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(224): startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): __init__
  /home/ubuntu/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(781): _create_app
  /home/ubuntu/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__
  /home/ubuntu/IsaacLab/scripts/tools/convert_mjcf.py(57): <module>

[2.469s] [ext: omni.inspect-1.0.1] startup
[2.471s] [ext: omni.kit.widget.filter-1.1.4] startup
[2.472s] [ext: omni.graph.core-2.181.8] startup
[2.476s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
[2.476s] [ext: isaacsim.core.deprecation_manager-0.2.2] startup
[2.477s] [ext: omni.kvdb-106.5.7] startup
[2.479s] [ext: omni.kit.viewport.utility-1.0.18] startup
[2.480s] [ext: omni.kit.selection-0.1.5] startup
[2.481s] [ext: omni.kit.window.file_exporter-1.0.31] startup
[2.482s] [ext: omni.kit.stage_template.core-1.1.22] startup
[2.483s] [ext: isaacsim.core.version-2.0.2] startup
[2.483s] [ext: omni.localcache-106.5.7] startup
[2.485s] [ext: omni.kit.menu.edit-1.1.25] startup
[2.488s] [ext: omni.usdphysics-106.5.7] startup
[2.492s] [ext: omni.kit.window.file-1.3.57] startup
[2.496s] [ext: omni.kit.hotkeys.core-1.3.10] startup
[2.497s] [ext: isaacsim.app.about-2.0.7] startup
[2.503s] [ext: omni.kit.window.content_browser-2.10.3] startup
2025-07-12 22:36:59 [2,497ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
[2.521s] [ext: omni.convexdecomposition-106.5.7] startup
[2.527s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
[2.528s] [ext: omni.kit.widget.searchfield-1.1.8] startup
[2.530s] [ext: omni.kit.property.adapter.core-1.0.2] startup
[2.532s] [ext: omni.physx.foundation-106.5.7] startup
[2.534s] [ext: omni.kit.window.property-1.11.5] startup
[2.536s] [ext: omni.kit.widget.stage-2.11.6] startup
[2.549s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
[2.550s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
[2.552s] [ext: omni.physx.cooking-106.5.7] startup
[2.562s] [ext: omni.kit.property.usd-4.2.16] startup
[2.572s] [ext: omni.physx-106.5.7] startup
[2.590s] [ext: isaacsim.gui.property-1.0.4] startup
[2.659s] [ext: omni.physx.stageupdate-106.5.7] startup
[2.662s] [ext: omni.kit.numpy.common-0.1.2] startup
[2.665s] [ext: omni.physics.tensors-106.5.7] startup
[2.676s] [ext: omni.warp.core-1.5.0] startup
[2.887s] [ext: omni.isaac.dynamic_control-1.3.15] startup
2025-07-12 22:36:59 [2,871ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
[2.895s] [ext: isaacsim.storage.native-1.0.6] startup
[2.896s] [ext: omni.physx.tensors-106.5.7] startup
[2.905s] [ext: isaacsim.core.utils-2.2.8] startup
[2.907s] [ext: semantics.schema.editor-0.3.10] startup
[2.910s] [ext: isaacsim.core.simulation_manager-0.3.3] startup
[4.689s] [ext: semantics.schema.property-1.0.5] startup
[4.690s] [ext: isaacsim.core.cloner-1.3.4] startup
[4.691s] [ext: omni.sensors.nv.common-2.5.0-coreapi] startup
[4.710s] [ext: omni.graph.tools-1.79.1] startup
[4.734s] [ext: omni.sensors.nv.materials-1.4.0-coreapi] startup
[4.739s] [ext: omni.graph-1.140.2] startup
[4.787s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
[4.789s] [ext: omni.sensors.nv.ids-1.4.0-coreapi] startup
[4.796s] [ext: omni.sensors.nv.lidar-2.6.3-coreapi] startup
[4.804s] [ext: omni.graph.visualization.nodes-2.1.1] startup
[4.812s] [ext: omni.kit.widget.graph-1.12.17] startup
[4.828s] [ext: omni.ui_query-1.1.7] startup
[4.832s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[4.834s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
[4.837s] [ext: omni.kit.ui_test-1.3.3] startup
[4.839s] [ext: omni.graph.scriptnode-1.40.1] startup
[4.841s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[4.847s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[4.850s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[4.859s] [ext: omni.graph.action_core-1.1.7] startup
[4.863s] [ext: omni.graph.image.core-0.6.0] startup
[4.864s] [ext: omni.kit.window.material_graph-1.8.19] startup
[4.901s] [ext: omni.graph.action_nodes-1.40.1] startup
[4.906s] [ext: omni.graph.image.nodes-1.3.0] startup
[4.909s] [ext: omni.kit.viewport.menubar.core-107.1.2] startup
[4.968s] [ext: omni.kit.primitive.mesh-1.0.17] startup
[4.973s] [ext: omni.graph.action-1.120.0] startup
[4.975s] [ext: omni.graph.nodes-1.162.1] startup
[4.989s] [ext: omni.syntheticdata-0.6.10] startup
[5.010s] [ext: omni.kit.stage_templates-1.2.6] startup
[5.015s] [ext: isaacsim.core.prims-0.3.7] startup
[5.057s] [ext: omni.warp-1.5.0] startup
[5.065s] [ext: omni.kit.window.extensions-1.4.25] startup
[5.078s] [ext: omni.sensors.nv.wpm-2.4.0-coreapi] startup
[5.083s] [ext: isaacsim.core.api-4.2.16] startup
[5.156s] [ext: omni.replicator.core-1.11.35] startup
2025-07-12 22:37:02 [5,269ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
[5.297s] [ext: isaacsim.gui.components-1.0.9] startup
[5.305s] [ext: omni.sensors.nv.radar-2.6.1-coreapi] startup
[5.315s] [ext: omni.kit.widget.prompt-1.0.7] startup
[5.320s] [ext: isaacsim.core.nodes-2.1.4] startup
[5.333s] [ext: isaacsim.robot.surface_gripper-2.0.6] startup
[5.348s] [ext: isaacsim.util.debug_draw-2.0.2] startup
[5.358s] [ext: omni.sensors.tiled-0.0.6] startup
[5.363s] [ext: omni.kit.tool.asset_importer-2.12.2] startup
[5.399s] [ext: omni.kit.menu.create-1.0.17] startup
[5.407s] [ext: isaacsim.robot.manipulators-3.0.4] startup
[5.431s] [ext: isaacsim.sensors.physx-2.2.4] startup
[5.447s] [ext: isaacsim.sensors.rtx-13.6.3] startup
[5.498s] [ext: isaacsim.asset.importer.mjcf-2.3.3] startup
[5.632s] [ext: omni.anim.curve.core-1.2.0] startup
[5.656s] [ext: omni.kit.scripting-106.5.2] startup
[5.675s] [ext: omni.graph.ui_nodes-1.40.1] startup
[5.685s] [ext: omni.kit.manipulator.transform-106.0.1] startup
[5.704s] [ext: omni.kit.widget.toolbar-1.7.3] startup
[5.732s] [ext: omni.kit.manipulator.camera-106.0.3] startup
[5.739s] [ext: isaacsim.replicator.behavior-1.0.8] startup
[5.745s] [ext: isaacsim.simulation_app-2.4.2] startup
[5.747s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[5.751s] [ext: omni.kit.manipulator.tool.snap-1.5.12] startup
[5.764s] [ext: omni.kit.widget.stage_icons-1.0.6] startup
[5.768s] [ext: omni.kit.menu.file-1.1.15] startup
[5.774s] [ext: omni.physx.commands-106.5.7] startup
[5.778s] [ext: omni.kit.widget.layers-1.8.2] startup
[5.792s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[5.795s] [ext: omni.kit.window.stage-2.5.11] startup
[5.801s] [ext: omni.fabric.commands-1.1.5] startup
[5.805s] [ext: omni.kit.property.audio-1.0.16] startup
[5.807s] [ext: omni.kit.usd.collect-2.2.22] startup
[5.811s] [ext: omni.kit.stagerecorder.core-105.0.5] startup
[5.817s] [ext: omni.kit.manipulator.prim.core-107.0.7] startup
[5.825s] [ext: omni.kit.menu.stage-1.2.5] startup
[5.827s] [ext: omni.kit.property.geometry-1.3.3] startup
[5.832s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
[5.835s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[5.837s] [ext: omni.kit.property.render-1.1.3] startup
[5.839s] [ext: omni.kit.widget.zoombar-1.0.5] startup
[5.841s] [ext: omni.kit.viewport.actions-107.0.0] startup
[5.847s] [ext: omni.hydra.scene_api-0.1.2] startup
[5.854s] [ext: omni.debugdraw-0.1.3] startup
[5.859s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[5.860s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[5.862s] [ext: omni.kit.browser.core-2.3.11] startup
[5.866s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
[5.869s] [ext: omni.kit.property.transform-1.5.10] startup
[5.873s] [ext: omni.kit.property.material-1.10.17] startup
[5.881s] [ext: omni.kit.property.light-1.0.11] startup
[5.883s] [ext: omni.kit.property.camera-1.0.9] startup
[5.885s] [ext: omni.kit.browser.folder.core-1.10.1] startup
[5.892s] [ext: omni.usdphysics.ui-106.5.7] startup
[5.933s] [ext: omni.kit.property.bundle-1.3.2] startup
[5.936s] [ext: omni.kit.tool.collect-2.2.16] startup
[5.940s] [ext: omni.kit.stagerecorder.ui-105.0.6] startup
[5.944s] [ext: isaacsim.sensors.physics-0.3.5] startup
[5.951s] [ext: isaacsim.examples.browser-0.1.8] startup
[5.957s] [ext: omni.physx.ui-106.5.7] startup
2025-07-12 22:37:02 [5,972ms] [Error] [carb.scripting-python.plugin] AttributeError: 'NoneType' object has no attribute 'get_keyboard'

At:
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/physxViewportOverlays.py(64): _attach_keyboard_events
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/physxViewportOverlays.py(57): on_startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/extension.py(116): on_startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(166): _startup_ext
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(224): startup
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
  PythonExtension.cpp::startup()(2): <module>
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
  /home/ubuntu/env_isaaclab/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): __init__
  /home/ubuntu/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(781): _create_app
  /home/ubuntu/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__
  /home/ubuntu/IsaacLab/scripts/tools/convert_mjcf.py(57): <module>

2025-07-12 22:37:02 [5,973ms] [Error] [omni.ext.plugin] [ext: omni.physx.ui-106.5.7] Failed to startup python extension.
[6.262s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[6.270s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
[6.271s] [ext: isaacsim.robot.policy.examples-4.0.3] startup
[6.272s] [ext: isaacsim.asset.importer.urdf-2.3.10] startup
[6.306s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[6.313s] [ext: omni.physx.demos-106.5.7] startup
[6.350s] [ext: omni.kit.property.physx-106.5.7] startup
[6.411s] [ext: omni.kit.viewport.menubar.render-107.0.8] startup
[6.416s] [ext: omni.kit.window.toolbar-1.6.2] startup
[6.420s] [ext: isaacsim.robot.wheeled_robots-4.0.3] startup
[6.428s] [ext: omni.physx.vehicle-106.5.7] startup
2025-07-12 22:37:03 [6,422ms] [Warning] [omni.physxui.scripts.menu] PhysicsMenu: instance is not alive, did you forget a dependency?
2025-07-12 22:37:03 [6,423ms] [Warning] [omni.physxui.scripts.menu] PhysicsMenu: instance is not alive, did you forget a dependency?
[6.460s] [ext: omni.physx.graph-106.5.7] startup
[6.487s] [ext: omni.physx.supportui-106.5.7] startup
[6.521s] [ext: omni.physx.telemetry-106.5.7] startup
[6.528s] [ext: omni.physx.camera-106.5.7] startup
[6.546s] [ext: omni.physx.cct-106.5.7] startup
[6.568s] [ext: omni.rtx.window.settings-0.6.17] startup
[6.584s] [ext: omni.usd.metrics.assembler-106.5.0] startup
[6.595s] [ext: omni.kit.window.status_bar-0.1.7] startup
[6.601s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[6.605s] [ext: omni.physx.bundle-106.5.7] startup
[6.606s] [ext: omni.replicator.replicator_yaml-2.0.10] startup
[6.625s] [ext: omni.rtx.settings.core-0.6.3] startup
[6.632s] [ext: omni.usd.metrics.assembler.ui-106.5.0] startup
[6.643s] [ext: isaacsim.asset.browser-1.3.4] startup
[6.747s] [ext: isaacsim.gui.menu-2.0.9] startup
2025-07-12 22:37:03 [6,729ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
[6.755s] [ext: omni.kit.ui.actions-1.0.2] startup
[6.759s] [ext: omni.kit.window.console-0.2.14] startup
[6.771s] [ext: isaacsim.sensors.camera-0.2.9] startup
[6.780s] [ext: isaaclab-0.40.17] startup
[7.035s] [ext: isaaclab_assets-0.2.2] startup
[7.352s] [ext: isaaclab_tasks-0.10.36] startup
[10.424s] [ext: omni.kit.menu.common-1.1.9] startup
[10.426s] [ext: isaaclab_rl-0.1.8] startup
[10.427s] [ext: isaaclab_mimic-1.0.7] startup
[10.428s] [ext: isaaclab.python-2.1.0] startup
[10.430s] Simulation App Starting
2025-07-12 22:37:07 [10,513ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:37:07 [10,518ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
[10.594s] app ready
2025-07-12 22:37:07 [10,583ms] [Error] [omni.kit.menu.utils.app_menu] Hotkeys cannot be setup without a default window
2025-07-12 22:37:07 [10,704ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 8448000128
2025-07-12 22:37:07 [10,704ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
2025-07-12 22:37:07 [10,704ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 8363520384
2025-07-12 22:37:07 [10,704ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 8508328 (slope: 503, intercept: 13181056)
2025-07-12 22:37:07 [10,704ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4286378240
2025-07-12 22:37:07 [10,704ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
2025-07-12 22:37:07 [10,880ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults-transient/meshlights/forceDisable'
[15.653s] Simulation App Startup Complete
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
Input MJCF file: /home/ubuntu/model_conversion/mujoco/SpiderBotNoEnv.xml
MJCF importer config:
    asset_path: /home/ubuntu/model_conversion/mujoco/SpiderBotNoEnv.xml
    usd_dir: /home/ubuntu/model_conversion/usd
    usd_file_name: SpiderBot.usd
    force_usd_conversion: True
    make_instanceable: True
    import_inertia_tensor: True
    fix_base: False
    import_sites: True
    self_collision: False
    link_density: 0.0
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
MJCF importer output:
Generated USD file: /home/ubuntu/model_conversion/usd/SpiderBot.usd
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
2025-07-12 22:37:15 [18,358ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:37:15 [18,359ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:37:15 [18,455ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2025-07-12 22:37:15 [18,564ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:37:15 [18,565ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-07-12 22:37:17 [20,378ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /SpiderBotNoEnv/Body/Leg8_Knee_actuator_assembly_End_Bearing_Holder/visuals.proto_mesh_id0 that has not been populated

j_gillick · July 12, 2025, 11:03pm

Even weirder, if I use the --headless cli flag (or set the HEADLESS=1 environment variable), I get the following error:

2025-07-12 23:01:25 [7,479ms] [Error] [omni.kit.commands.command] Can't execute command: "MJCFCreateImportConfig", it wasn't registered or ambigious.
Traceback (most recent call last):
  File "/home/ubuntu/IsaacLab/scripts/tools/convert_mjcf.py", line 137, in <module>
    main()
  File "/home/ubuntu/IsaacLab/scripts/tools/convert_mjcf.py", line 107, in main
    mjcf_converter = MjcfConverter(mjcf_converter_cfg)
  File "/home/ubuntu/IsaacLab/source/isaaclab/isaaclab/sim/converters/mjcf_converter.py", line 46, in __init__
    super().__init__(cfg=cfg)
  File "/home/ubuntu/IsaacLab/source/isaaclab/isaaclab/sim/converters/asset_converter_base.py", line 106, in __init__
    self._convert_asset(cfg)
  File "/home/ubuntu/IsaacLab/source/isaaclab/isaaclab/sim/converters/mjcf_converter.py", line 58, in _convert_asset
    import_config = self._get_mjcf_import_config()
  File "/home/ubuntu/IsaacLab/source/isaaclab/isaaclab/sim/converters/mjcf_converter.py", line 84, in _get_mjcf_import_config
    import_config.set_import_sites(True)
AttributeError: 'NoneType' object has no attribute 'set_import_sites'

j_gillick · July 12, 2025, 11:19pm

A little progress. I can get it to work with the --headless CLI arg, if I update isaaclab.python.headless.kit to include the following line in the dependency list:

"isaacsim.asset.importer.mjcf" = {}

With that change, the script exits as expected. This does seem like a bit of a weird workaround, though.

zhengwang · July 14, 2025, 9:17pm

Hi @j_gillick Please post this issue on IsaacLab github for better support: GitHub · Where software is built

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