Isaac Sim Version
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: RTX 3060TI
- Driver Version: 550.78
Topic Description
Detailed Description
I want to delete a prim in running simulation process and have the simulation continue, but it seems that I can’t do it. The simulation view is invalidated after deleting the prim. What should I do?
Steps to Reproduce
- Add 2 Robot(like franka, here I use
h1) - Run sim steps
- Delete one of them
- Add another robot to this running sim process
Error Messages
[Error] [omni.physx.tensors.plugin] Simulation view object is invalidated and cannot be used again to call getSharedMetatype
...
2025-03-31 06:35:19 [33,024ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
...
...
File "/isaac-sim/exts/isaacsim.core.api/isaacsim/core/api/robots/robot.py", line 73, in __init__
SingleArticulation.__init__(
File "/isaac-sim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/single_articulation.py", line 99, in __init__
self._articulation_view = Articulation(
File "/isaac-sim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/articulation.py", line 175, in __init__
Articulation._on_physics_ready(self, None)
File "/isaac-sim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/articulation.py", line 5152, in _on_physics_ready
self._body_names = self._metadata.link_names
AttributeError: 'NoneType' object has no attribute 'link_names'
Additional Information
What I’ve Tried
This may caused by Simulation view object is invalidated. And I read the source code, can not find how to avoid this error.
Maybe I need to know the internals of the simulation view (maybe a flowchart) but I can’t find it in the documentation. Could you please explain it and tell me if what I want to do is possible?
PLEASE!