Hi all!
I’m trying to create a standalone where I load multiple robots from the same class.
It seems that the Scene.add() method loads only the last object it gets when adding it multiple times.
Here is the script:
from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({"headless": False})
from link import Link
from link2 import Link2
from omni.isaac.jetbot import Jetbot
from omni.isaac.core import World
from link_controller import LinkController
import numpy as np
my_world = World(stage_units_in_meters=0.01)
my_link = my_world.scene.add(Link(prim_path="/home/USER/Downloads", name="my_link", position=np.array([0, 0.0, 30.0])))
my_link2 = my_world.scene.add(Link2(prim_path="/home/USER/Downloads", name="my_link2", position=np.array([15.0, 15.0, 4.0])))
my_jetbot = my_world.scene.add(Jetbot(prim_path="/World/Jetbot", name="my_jetbot", position=np.array([0.0, 0.0, 0])))
my_jetbot2 = my_world.scene.add(Jetbot(prim_path="/World/Jetbot", name="my_jetbot2", position=np.array([-20.0, -20.0, 0])))
my_world.scene.add_default_ground_plane()
my_controller = LinkController(name="link_controller")
my_world.reset()
while simulation_app.is_running():
my_world.step(render=True)
if my_world.is_playing():
if my_world.current_time_step_index == 0:
my_world.reset()
my_controller.reset()
theta = 2*(2*np.pi/10*my_world.current_time)
my_link.apply_servo_actions(my_controller.forward(command=[150, theta]))
my_link2.apply_servo_actions(my_controller.forward(command=[150, theta]))
simulation_app.close()
Currently, the script loads only my_jetbot2 and my_link2
Perhaps I am missing something here. Is there a way to load the same robot object multiple times (as different independent robots)?
Thank you!