How to set the designed two-wheeled car as Wheeled Robots class?

Omniverse Isaac Sim
1

I designed a two-wheel differential car myself and set “wheel” as the Articulation robot, but an error was displayed.
Robot：

image
image756×965 46 KB

code:

prim = add_reference_to_stage(usd_path="D:/software/omniverse/HuLu_data/Projects/Robots/Car_ with RoboticArm/Car_with_RoboticArm_3.usd",prim_path="/World")
jetbot = Articulation(prim_path="/World/wheel", name="fancy_robot")
world.scene.add(jetbot)
print(jetbot)

Error:

2024-03-27 09:45:19 [47,266ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/wheel'
2024-03-27 09:45:19 [47,267ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/wheel' did not match any articulation
2

How should I modify it?

4

Hi bro,

That is a good start, you have the USD already, and you attached it to the prim path. Then you should use the prim path.

The error is caused by the fact that it cannot find the articulation.

Why do you use jetbot = Articulation(prim_path=“/World/wheel”, name=“fancy_robot”). There is not /World/wheel in your case, I think you should work on this. It should be like /World/Car_with_RoboticArm/wheel or something, it depends on your definition.

Cheers