Cannot get the updated translation during the simulation

[DesnyXu]

I’m learning the tutorial code of OmniIsaacGymEnvs, here is its github repository link: GitHub - NVIDIA-Omniverse/OmniIsaacGymEnvs: Reinforcement Learning Environments for Omniverse Isaac Gym
I can run the code of training Anymal successfully. I can get the updated translation of base and THIGH in world frame during simulation. I also want to get the translation of SHANK, so I imitate the code to define an articulation view of SHANK, and want to get its translation by the function ‘get_world_poses’ in world frame. However, I can only get its initial translation. While the translations of THIGH and base changes during the simulation, SHANK’s translation keeps fixed.
Following is the definition of SHANK’s articulation view:

I defined a function to print THIGH and SHANK translations:

Here is the prints, you can see that the knee_heights changes, but the shank_heights keep fixed:

Can somebody tell me how to get updated translations of SHANK during the simulation?

[DesnyXu]

I have solved this question by adding the articulation view to the scene:

[DesnyXu]

By the way, I want to mention that in anymal_view.py, it defines self._knees according to THIGH. When tracking the translation of self._knees, it is close to the translation of the joint *_HFE in THIGH. The name of knees is confusing, and I think it invalid a penalization on the reward if somebody trys to use the function called ‘is_knee_below_threshold’ in anymal_view.py .