I use sdg_scheduler.py with a robot and write error
2024-06-20 15:37:20 [296,388ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at ‘/World/Robots/Carter’
2024-06-20 15:37:20 [296,388ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2024-06-20 15:37:20 [296,389ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at ‘/World/Robots/Carter’
2024-06-20 15:37:20 [296,389ms] [Error] [omni.physx.tensors.plugin] Pattern ‘/World/Robots/Carter’ did not match any articulations
2024-06-20 15:37:20 [296,392ms] [Error] [asyncio] Task exception was never retrieved
future: <Task finished name=‘Task-1643’ coro=<RobotBehavior.on_play..init_robot() done, defined at /.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.anim.people-0.2.4/omni/anim/people/scripts/robot_behavior.py:106> exception=AttributeError(“‘NoneType’ object has no attribute ‘is_homogeneous’”)>
Traceback (most recent call last):
File “/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.anim.people-0.2.4/omni/anim/people/scripts/robot_behavior.py”, line 108, in init_robot
self._carter.initialize()
File “/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.wheeled_robots/omni/isaac/wheeled_robots/robots/wheeled_robot.py”, line 152, in initialize
super().initialize(physics_sim_view=physics_sim_view)
File “/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation.py”, line 294, in initialize
self._articulation_view.initialize(physics_sim_view=physics_sim_view)
File “/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py”, line 349, in initialize
assert self._physics_view.is_homogeneous
File “/.local/share/ov/pkg/isaac_sim-2023.1.1/extsPhysics/omni.physics.tensors-105.1.12-5.1/omni/physics/tensors/impl/api.py”, line 170, in is_homogeneous
return self._backend.is_homogeneous
AttributeError: ‘NoneType’ object has no attribute ‘is_homogeneous’
2024-06-20 15:37:32 [307,762ms] [Warning] [carb] Client omni.anim.graph.core.plugin has acquired [carb::tasking::ITasking v2.4] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2024-06-20 15:38:25 [361,095ms] [Error] [omni.isaac.core.simulation_context.simulation_context] Physics callback Carter_actions doesn’t exist