Can you provide a tutorial for writing the json file to build the composite robot in isaac sim?

Hello there

I have known how to build a composite robot by two URDF files, but I’m confused with the json file provided below

"name": "SegwayWithArms",
   "sources": [
      {
        "id": "segway",
        "path": "segway_description/urdf/segway440LE.urdf",
        "format": "urdf"
      },
      {
        "id": "franka",
        "path": "franka_description/robots/panda_arm.urdf",
        "format": "urdf"
      }
    ],
    "composition": [
      {
        "id": "base",
        "source": "segway"
      },
      {
        "id": "arm1",
        "source": "franka",
        "parent": "base",
        "parent_body": "inertial_collision_link",
        "local_pose": {
          "xyz": "0.3 0 0.265",
          "rpy": "0 0 0"
        }
      },
      {
        "id": "arm2",
        "source": "franka",
        "parent": "base",
        "parent_body": "inertial_collision_link",
        "local_pose": {
          "xyz": "-0.3 0 0.265",
          "rpy": "0 0 3.14159265359"
        }
      }
    ]
  }

In sources label, can we provide the robot model by Blueprint class? In other words,is the format must be the “urdf”?

If it is possible, Can you provide a tutorial for how to write the json file for building the composite robot?

BR

Hi,

IsaacSim currently do not support composite robots. Could you please point me to which json file those lines are from?

Hi

This code comes from the tutorial in isaacsim-2019.1. I gave the url of the page as follow,
https://docs.nvidia.com/isaac/archive/1.2/plugins/robot_builder/urdf.html#creating-composite-robots

In Isaac 2019.1, Isaac sim can build composite robots, but the introduction was too simple.

Is the robot builder not supported in the new version of IsaacSDK ?