Create ArticulationView using Articulation

Omniverse Isaac Sim
1

Hi,

I want to create a simulation scene with multiple robots using ArticulationView.
I tried the code below, but no matter how I vary the position or the translation, the robots will all be generated at the same origin.

for i in range(num_envs):
    prim_path=f"/World/env_{i}/robot"
    add_reference_to_stage(robot_usd, prim_path)
    env = world.scene.add(Articulation(prim_path=prim_path, name=f"robot_{i}", position=torch.tensor([i, 0.0, 0.0]).to(device)))

robots = ArticulationView(prim_paths_expr="/World/env_*/robot", name="robot_view")
world.scene.add(robots)

image
image1354×896 109 KB

But if I use built-in Franka robot it seems fine, do I miss anything?

env = world.scene.add(Franka(prim_path=prim_path, name=f"robot_{i}", position=torch.tensor([i, 0.0, 0.0]).to(device)))
2

May I know which Isaac Sim version you are using?

4

I’m using Isaac-sim-4.2.0. Installed by pip.