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No articulation schema present for prim #152

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JianlinWang-JL opened this issue Nov 29, 2023 · 8 comments
Closed

No articulation schema present for prim #152

JianlinWang-JL opened this issue Nov 29, 2023 · 8 comments
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question Further information is requested

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@JianlinWang-JL
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I am trying to run a self-design robot based on orbit, a simplified version of the robot is generated on onshape. I import the robot into isaac sim with all joints set well, and I test them all by giving actuators. It looks like the following:

image

The code I am using as showing below:
image

I keep having this error:
image

The following would be things I have checked,

  1. DoFs are all set and they work
  2. All the names of joints are mentioned in the code
  3. the default prim has been attached to the robot

I am very confused about it, and many thanks to any replies!

p.s. the tree of my usd are shown as following:

image
@JianlinWang-JL
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Many thanks to any replies and happy to discuss more about it!

@JianlinWang-JL JianlinWang-JL mentioned this issue Nov 29, 2023
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@jnzhnd
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jnzhnd commented Nov 29, 2023

Does your original usd model of the robot (the one that you're referencing as _LOG_ROBOT_USD) actually have an articulation?

@JianlinWang-JL
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Does your original usd model of the robot (the one that you're referencing as _LOG_ROBOT_USD) actually have an articulation?

Hi, @jnzhnd , may I ask you how can I know if there is an articulation or not? From the list?

@JianlinWang-JL
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Does your original usd model of the robot (the one that you're referencing as _LOG_ROBOT_USD) actually have an articulation?

Hi, @jnzhnd , may I ask you how can I know if there is an articulation or not? From the list?

image
The usd is as showing following, I found no functions to add it, however there is a close one called "articulation inspector" under isaac utils. No idea how to deal with that.

Thanks a lot for the reply!

@jnzhnd
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jnzhnd commented Nov 29, 2023 •
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Alright, so basically the root prim of your articulation (the one you've selected in the screenshot above called log (defaultPrim)) should have an attribute called "Physics/Articulation Root". You can see this if you import for example a UR10 model into an empty stage using "Isaac Examples>Import Robots>UR10 URDF".

Check the attached screenshot for this (bottom right).

image

To add a new articulation (if it's not present), right click onto your log prim, and go to Add>Physics>Articulation Root.

image

@JianlinWang-JL
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Alright, so basically the root prim of your articulation (the one you've selected in the screenshot above called log (defaultPrim)) should have an attribute called "Physics/Articulation Root". You can see this if you import for example a UR10 model into an empty stage using "Isaac Examples>Import Robots>UR10 URDF".

Check the attached screenshot for this (bottom right).

image

To add a new articulation (if it's not present), right click onto your log prim, and go to Add>Physics>Articulation Root.

image

Thank you so much @jnzhnd ! Your clear explanation do save my day, many thanks again!

@Mayankm96
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Mayankm96 commented Dec 6, 2023 •
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Thanks a lot for helping each other out here. If it solved the problem, please close this issue :)

@Mayankm96 Mayankm96 added the question Further information is requested label Dec 6, 2023
@JianlinWang-JL
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Thanks for your notification @Mayankm96 , closed.

Mayankm96 pushed a commit that referenced this issue Dec 10, 2023
@pascal-roth @jsmith-bdai
Updates the tutorials documentation to latest framework (#246)
623b2d9 
# Description

This MR updates the tutorials to the latest version of Orbit. It
introduced a new structure for them. They cover basic sim elements,
assets, sensors, scenes, and envs.

Fixes #190 , #149 , #148 , #147 , #151, #152, #155, #156, #157

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: James Smith <jsmith@theaiinstitute.com>
Mayankm96 pushed a commit that referenced this issue Dec 22, 2023
@pascal-roth @jsmith-bdai @Mayankm96
Updates the tutorials documentation to latest framework (#246)
77c2834 
# Description

This MR updates the tutorials to the latest version of Orbit. It
introduced a new structure for them. They cover basic sim elements,
assets, sensors, scenes, and envs.

Fixes #190 , #149 , #148 , #147 , #151, #152, #155, #156, #157

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: James Smith <jsmith@theaiinstitute.com>
fatimaanes pushed a commit to fatimaanes/omniperf that referenced this issue Aug 8, 2024
@pascal-roth @jsmith-bdai
Updates the tutorials documentation to latest framework (isaac-sim#246)
d48d918 
# Description

This MR updates the tutorials to the latest version of Orbit. It
introduced a new structure for them. They cover basic sim elements,
assets, sensors, scenes, and envs.

Fixes isaac-sim#190 , isaac-sim#149 , isaac-sim#148 , isaac-sim#147 , isaac-sim#151, isaac-sim#152, isaac-sim#155, isaac-sim#156, isaac-sim#157

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: James Smith <jsmith@theaiinstitute.com>
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@jnzhnd @Mayankm96 @JianlinWang-JL