Important: Isaac Sim support
Note: For Isaac Sim support, the community is gradually transitioning from this forum to the Isaac Sim GitHub repository so that questions and issues can be tracked, searched, and resolved more efficiently in one place. Whenever possible, please create a GitHub Discussion or Issue there instead of starting a new forum topic.
Note: For any Isaac Lab topics, please submit your topic to its GitHub repo ( GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim · GitHub ) following the instructions provided on Isaac Lab’s Contributing Guidelines ( Contribution Guidelines — Isaac Lab Documentation ).
Please provide all relevant details below before submitting your post. This will help the community provide more accurate and timely assistance. After submitting, you can check the appropriate boxes. Remember, you can always edit your post later to include additional information if needed.
6.0.0
5.1.0
5.0.0
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 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model:
- Driver Version:
Topic Description
im trying to mount the kinova gen 3 on top of BD spot , like the image i provided here , however when i launch isaaclab it spawns sideways , also when i try to change the fixed joint localrot0 or 1 between the kinova and the spot , the spot changes location relative to the world but not kinova ,
the prims are these : Robot (articulation root ) → spot,kinova, spot_kinova_fixed_joint,
in the fixed joint spot is body0 and kinova is body1 ,
the parameters of the joint are as follows:
body0 : pos:(0,0,0) rot:(0,0,0) , body1: (-0.15,0,0.15) rot: (180,90,0)
the kinova’s prim has the same transform as the joint , i’ve tried to change the bodies , different rotation , etc , but none of them works , when kinova is mount on top of spot with rot as (0,0,0) , it works perfectly, what can i do to fix it?
also adding the config for the robot in isaaclab:
SPOT_KINOVA_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=SPOT_KINOVA_USD_PATH,
activate_contact_sensors=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
retain_accelerations=False,
linear_damping=0.0,
angular_damping=0.0,
max_linear_velocity=1000.0,
max_angular_velocity=1000.0,
max_depenetration_velocity=1.0,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True,
solver_position_iteration_count=4,
solver_velocity_iteration_count=0,
),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 0.8), # Slightly higher to account for arm
rot=(1.0,0.0,0.0, 0.0), # Identity rotation (w, x, y, z)
\# rot=(1.0, 0.0, 0.0, 0.0), # Identity rotation (w, x, y, z)
joint_pos={
\# Spot leg joints (12 DOF)
"\[fh\]l_hx": 0.1, # all left hip_x
"\[fh\]r_hx": -0.1, # all right hip_x
"f\[rl\]\_hy": 0.9, # front hip_y
"h\[rl\]\_hy": 1.1, # hind hip_y
".\*\_kn": -1.5, # all knees
\# Kinova arm joints (7 DOF) - tucked position for stability
"joint_1": 0.0,
"joint_2": 0.785398, # Shoulder down
"joint_3": 0.0, # Elbow rotated
"joint_4":-1.570796, # Elbow bent back
"joint_5": 0.0,
"joint_6": 0.785398,
"joint_7": 0.0,
},
joint_vel={".\*": 0.0},
),
actuators={
\# Spot hip actuators (8 DOF: hx and hy joints)
"spot_hip": DelayedPDActuatorCfg(
joint_names_expr=\[".\*\_h\[xy\]"\],
effort_limit=45.0,
stiffness=60.0,
damping=1.5,
min_delay=0, # physics time steps (min: 2.0\*0=0.0ms)
max_delay=4, # physics time steps (max: 2.0\*4=8.0ms)
),
\# Spot knee actuators (4 DOF: kn joints)
"spot_knee": RemotizedPDActuatorCfg(
joint_names_expr=\[".\*\_kn"\],
joint_parameter_lookup=joint_parameter_lookup,
effort_limit=None, # torque limits are handled based on experimental data
stiffness=60.0,
damping=1.5,
min_delay=0, # physics time steps (min: 2.0\*0=0.0ms)
max_delay=4, # physics time steps (max: 2.0\*4=8.0ms)
),
\# Kinova arm actuators (7 DOF: joint_1 through joint_7)
"kinova_arm": ImplicitActuatorCfg(
joint_names_expr=\["joint\_\[1-7\]"\],
effort_limit={
"joint\_\[1-4\]": 39.0,
"joint\_\[5-7\]": 9.0,
},
stiffness={
"joint\_\[1-4\]": 40.0,
"joint\_\[5-7\]": 15.0,
},
damping={
"joint\_\[1-4\]": 1.0,
"joint\_\[5-7\]": 0.5,
},
),
},
)
