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Isaac Sim Version
[√] 4.5.0
4.2.0
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4.5.0
2023.1.1
2023.1.0-hotfix.1
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[√] Ubuntu 22.04
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Topic Description
Detailed Description
(Describe the issue in detail, including what you were trying to do, what you expected to happen, and what actually happened)
I tried to use Isaac sim to do some work with robots , but I found a strange question about objects in the scene. When I use robot grasp an object in the scene, but robot can only grasp object’s mesh(pxr.usd.prim), which does not have any api about position. Here is my code " forge_hole_8mm = self.world.stage.GetObjectAtPath(“/World/table/hole/forge_hole_8mm/forge_hole_8mm/mesh”)
forge_peg_8mm = self.world.stage.GetObjectAtPath(“/World/table/peg/forge_round_peg_8mm/mesh”)
print(“hole”,self.world.scene.get_object(“forge_hole_8mm”),type(self.world.scene.get_object(“forge_hole_8mm”)))
print(“peg”,self.world.scene.get_object(“forge_round_peg_8mm”),type(self.world.scene.get_object(“forge_round_peg_8mm”)))
print(“peg_pose:”,forge_hole_8mm, type(forge_hole_8mm))
print(“hole_pose:”,forge_peg_8mm, type(forge_peg_8mm))", and output “hole None <class ‘NoneType’>
peg None <class ‘NoneType’>
peg_pose: Usd.Prim(</World/table/hole/forge_hole_8mm/forge_hole_8mm/mesh>) <class ‘pxr.Usd.Prim’>
hole_pose: Usd.Prim(</World/table/peg/forge_round_peg_8mm/mesh>) <class ‘pxr.Usd.Prim’>”.
At first, I thought it was my model’s problem , then I found a scene used in standalone_example/api/isaacsim.core.api/deformable.py. So my questions is if I use a robot to grasp an object, but object’s root(Env6) position did not change with object(Mesh) , besides, robot can only grasp object’s mesh(child of object) , I want to track object’s position what properity should I use(I have tried pxr.usd.prim(in stage) and scene.get-object()) , which did not work.
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