Accessing Imported Robot in Simulation

Certainly! Here’s a rewritten version of your text:

Hello everyone,

I’m having trouble accessing a robot that I imported into the simulation using the “URDFParseAndImportFile” function.

Here’s how I spawn the robot in the simulation:

status, irb_prim_path = omni.kit.commands.execute("URDFParseAndImportFile",

I’m interested in accessing the states of the (Dof) of the robot, but I’m not sure how to do it. When I add an object to the world using:

              position=np.array([0.5, 0.5, 0.5]),
              scale=np.array([0.1, 0.1, 0.1]),
              color=np.array([0.2, 0.3, 0.0])

I can retrieve it using the defined name above, with the function my_world.scene.get_object("cube"). However, I’m unsure how to add the robot to the world.

Any assistance would be greatly appreciated.

Thank you,

Best regards, Andi

Hi @andreadi - Have you referred to this document?