Hi, I am currently working on Stretch3 robot with issac lab and issac sim(4.2.0 ver). I’m trying to import the robot and as I have XML file, I converted in the sim.
Conversion worked but I think the joint isn’t connects the link accordingly.
Joints are all gathered under base_link, not in individual parent links.
When running a code to excert effort to the joint, I encounter the error. Can anybody give me a single clue in this ??
Traceback (most recent call last):
File “/home/portal/Isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py”, line 92, in
lambda event, obj=weakref.proxy(self): obj._initialize_callback(event),
File “/home/portal/Isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py”, line 263, in _initialize_callback
self._initialize_impl()
File “/home/portal/Isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py”, line 904, in initialize_impl
raise RuntimeError(
RuntimeError: Failed to find a single articulation when resolving '/World/envs/env.*/Robot’. Found multiple ‘[Usd.Prim(</World/envs/env_0/Robot/base_link>), Usd.Prim(</World/envs/env_0/Robot/worldBody>)]’ under ‘/World/envs/env_0/Robot’. Please ensure that there is only one articulation in the prim path tree.
[INFO]: Time taken for simulation start : 1.760487 seconds
Creating window for environment.
[INFO]: Completed setting up the environment…
Error executing job with overrides:
Traceback (most recent call last):
File “/home/portal/Isaac/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py”, line 91, in hydra_main
func(env_cfg, agent_cfg, *args, **kwargs)
File “/home/portal/Isaac/IsaacLab/…/Isaac_stretch/train_skrl.py”, line 146, in main
env = gym.make(args_cli.task, cfg=env_cfg, render_mode=“rgb_array” if args_cli.video else None)
File “/home/portal/Isaac/IsaacLab/_isaac_sim/kit/python/lib/python3.10/site-packages/gymnasium/envs/registration.py”, line 802, in make
env = env_creator(**env_spec_kwargs)
File “/home/portal/Isaac/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/stretch/stretch_env.py”, line 151, in init
self._arm_dof_idx, _ = self.stretch.find_joints(self.cfg.arm_dof_name)
File “/home/portal/Isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py”, line 241, in find_joints
joint_subset = self.joint_names
File “/home/portal/Isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py”, line 136, in joint_names
return self.root_physx_view.shared_metatype.dof_names
File “/home/portal/Isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py”, line 155, in root_physx_view
return self._root_physx_view
AttributeError: ‘Articulation’ object has no attribute ‘_root_physx_view’
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.