Hi,
I’m working on my RL project with Isaac Sim recently.
When I trying to use the Lula Kinematics Solver to solver the inverse kinematics problem for the robots:
self._tx2s = Tx2View(prim_paths_expr="/World/envs/.*/tx2/base_link", name="tx2s_view")
self._articulation_kinematics_solver = ArticulationKinematicsSolver(self._tx2s,self.lula_solver, self.ee_frame)
It comes out:
2024-06-28 08:19:10 [19,406ms] [Error] [omni.kit.app._impl] [py stderr]:
2024-06-28 08:19:10 [19,406ms] [Error] [omni.kit.app._impl] [py stderr]: AttributeError: 'Tx2View' object has no attribute 'handles_initialized'
The Tx2View is an implementation of ArticulationView .
So I’d like to know if it is possible to handle the IK problem in a batch way by combining ArticulationViewer with Lula Kinematics Solver, and how should I do it.