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",
                                                urdf_path=asset_path,
                                                import_config=import_config)

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:

my_world.scene.add(DynamicCuboid(prim_path="/World/cube",
              name="cube",
              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?
https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_robot.html