Add Camera to Franka hand

Omniverse Isaac Sim
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1

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Isaac Sim Version

4.2.0

Detailed Description

I am trying to add an inhand camera to Franka end effector based on the example simple_stack.

Screenshot 2024-12-04 134020
Screenshot 2024-12-04 134020742×1010 78.7 KB

I have tried https://forums.developer.nvidia.com/t/attach-a-camera-to-franka-robot/202248
and How to permanently attach the camera on Franka Panda End Effector - Omniverse / Isaac Sim - NVIDIA Developer Forums.

And got similar error.

My own implementation looks like:

from omni.isaac.sensor import Camera
    async def setup_post_load(self):
        ...
        self._create_cams('World/Franka')

    def _create_cams(self, prim_path):
            hand_path = f"{prim_path}/panda_hand"
            self.inhand_cam = Camera(prim_path=f"{hand_path}/inhand_camera", ...),
            ...
        )

But while running, the path to the franka is not found.

The error report looks like this:
File “c:/users/username/appdata/local/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.examples/omni/isaac/examples/simple_stack/simple_stack.py”, line 49, in setup_post_load
self._create_cams(‘World/Franka’)
File “c:/users/username/appdata/local/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.examples/omni/isaac/examples/simple_stack/simple_stack.py”, line 76, in create_cams
self.camera = prims.create_prim(
File “c:/users/username/appdata/local/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/utils/prims.py”, line 709, in create_prim
prim = define_prim(prim_path=prim_path, prim_type=prim_type)
File “c:/users/username/appdata/local/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/utils/prims.py”, line 207, in define_prim
return get_current_stage(fabric=fabric).DefinePrim(prim_path, prim_type)
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved::UsdStage::_IsValidPathForCreatingPrim’ at line 3340 in file C:\g\97199581\USD\pxr\usd\usd\stage.cpp : ‘Path must be an absolute path: <World/Franka/panda_hand/Camera>’

How should i correctly attach an Camera to a franka? Please teach me.

2

Hi,

can you try to change your camera path from 'World/Franka' to '/World/Franka' and see if this works?
I think the missing / at the beginning is causing the ‘Path must be an absolute path: <World/Franka/panda_hand/Camera>’error.

3

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