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Isaac Sim Version
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 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: 4090
- Driver Version: 12.8
Topic Description
Detailed Description
Now I’m adding a new robot using the template ‘add_new_robot.py’ in tutorial. I’m sure that the articulationRoot, joints and their corresponding drives are set well. And I’ve run a successful simulation in isaacsim GUI, however when I ran the add_new_robot.py and tried to matches all the joints with drive, it gives no available joints actuators.
Error Messages
Traceback (most recent call last):
File "/home/houzhinan/Workspace/GeoTrussRover-simulation/GeoTrussRover/scripts/GeoTrussRover/add_new_robot.py", line 152, in <module>
main()
File "/home/houzhinan/Workspace/GeoTrussRover-simulation/GeoTrussRover/scripts/GeoTrussRover/add_new_robot.py", line 127, in main
sim.reset()
File "/home/houzhinan/Workspace/IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py", line 536, in reset
self.render()
File "/home/houzhinan/Workspace/IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py", line 591, in render
raise exception_to_raise
File "/home/houzhinan/Workspace/IsaacLab/source/isaaclab/isaaclab/assets/asset_base.py", line 291, in _initialize_callback
self._initialize_impl()
File "/home/houzhinan/Workspace/IsaacLab/source/isaaclab/isaaclab/assets/articulation/articulation.py", line 1208, in _initialize_impl
self._process_cfg()
File "/home/houzhinan/Workspace/IsaacLab/source/isaaclab/isaaclab/assets/articulation/articulation.py", line 1297, in _process_cfg
indices_list, _, values_list = string_utils.resolve_matching_names_values(
File "/home/houzhinan/Workspace/IsaacLab/source/isaaclab/isaaclab/utils/string.py", line 364, in resolve_matching_names_values
raise ValueError(
ValueError: Not all regular expressions are matched! Please check that the regular expressions are correct:
.*: []
Available strings: []
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,653ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,654ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,654ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-07-02 08:31:17 [9,654ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2025-07-02 08:31:17 [9,655ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
2025-07-02 08:31:17 [9,737ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2025-07-02 08:31:17 [9,738ms] [Warning] [carb.audio.context] 1 contexts were leaked
2025-07-02 08:31:18 [9,853ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
Screenshots or Videos
Maybe you need the tree structure of the robot model:
The simulation runs well in GUI:
Additional Information
What I’ve Tried
Here’s the code I use, maybe something does not match my model for the time being. But I do believe the problem existing in the simulation model structure because I’ve tested the code with official assets and some simple robots I created.
# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(
description="This script demonstrates adding a custom robot to an Isaac Lab environment."
)
parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to spawn.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
import numpy as np
import torch
import isaaclab.sim as sim_utils
from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.assets import AssetBaseCfg
from isaaclab.assets.articulation import ArticulationCfg
from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
GEOTRUSSROVER_CONFIG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path="/home/houzhinan/Workspace/GeoTrussRover-simulation/opt_isaac/sphere_car_0701_2_with_plane.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
retain_accelerations=False,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True,
solver_position_iteration_count=8,
solver_velocity_iteration_count=1,
),
),
actuators={
"wheels_only": ImplicitActuatorCfg(
joint_names_expr=[".*"],
damping=None,
stiffness=None,
),
},
)
class NewRobotsSceneCfg(InteractiveSceneCfg):
"""Designs the scene."""
# Ground-plane
ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg())
# lights
dome_light = AssetBaseCfg(
prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
)
# robot
GeoTrussRover = GEOTRUSSROVER_CONFIG.replace(prim_path="{ENV_REGEX_NS}/GeoTrussRover")
def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
sim_dt = sim.get_physics_dt()
sim_time = 0.0
count = 0
while simulation_app.is_running():
# reset
if count % 500 == 0:
# reset counters
count = 0
# reset the scene entities to their initial positions offset by the environment origins
root_geotrussrover_state = scene["GeoTrussRover"].data.default_root_state.clone()
root_geotrussrover_state[:, :3] += scene.env_origins
# copy the default root state to the sim
scene["GeoTrussRover"].write_root_pose_to_sim(root_geotrussrover_state[:, :7])
scene["GeoTrussRover"].write_root_velocity_to_sim(root_geotrussrover_state[:, 7:])
# copy the default joint states to the sim
joint_pos, joint_vel = (
scene["GeoTrussRover"].data.default_joint_pos.clone(),
scene["GeoTrussRover"].data.default_joint_vel.clone(),
)
scene["GeoTrussRover"].write_joint_state_to_sim(joint_pos, joint_vel)
# clear internal buffers
scene.reset()
print("[INFO]: Resetting GeoTrussRover, Jetbot and Dofbot state...")
# drive around
# if count % 100 < 75:
# # Drive straight by setting equal wheel velocities
# action = torch.Tensor([[10.0, 10.0]])
# else:
# # Turn by applying different velocitiesscripts/GeoTrussRover/add_new_robot.py
# action = torch.Tensor([[5.0, -5.0]])
# 控制GeoTrussRover
# scene["GeoTrussRover"].set_joint_velocity_target(action)
# scene["Jetbot"].set_joint_velocity_target(action)
scene.write_data_to_sim()
sim.step()
sim_time += sim_dt
count += 1
scene.update(sim_dt)
def main():
"""Main function."""
sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
sim = sim_utils.SimulationContext(sim_cfg)
sim.set_camera_view([3.5, 0.0, 3.2], [0.0, 0.0, 0.5])
scene_cfg = NewRobotsSceneCfg(args_cli.num_envs, env_spacing=2.0)
scene = InteractiveScene(scene_cfg)
sim.reset()
print("[INFO]: Setup complete...")
print(f"[DEBUG]: GeoTrussRover joint names: {scene['GeoTrussRover'].joint_names}")
print(f"[DEBUG]: GeoTrussRover DoF: {scene['GeoTrussRover'].num_joints}")
print(f"[DEBUG]: GeoTrussRover body names: {scene['GeoTrussRover'].body_names}")
print(f"[DEBUG]: GeoTrussRover num bodies: {scene['GeoTrussRover'].num_bodies}")
if scene['GeoTrussRover'].num_joints > 0:
print(f"[DEBUG]: Joint position shape: {scene['GeoTrussRover'].data.joint_pos.shape}")
print(f"[DEBUG]: Joint velocity shape: {scene['GeoTrussRover'].data.joint_vel.shape}")
print(f"[DEBUG]: Joint limits: {scene['GeoTrussRover'].data.joint_limits}")
else:
print("[WARNING]: No joints found in GeoTrussRover!")
print(f"[DEBUG]: Root state shape: {scene['GeoTrussRover'].data.root_state_w.shape}")
run_simulator(sim, scene)
if __name__ == "__main__":
main()
simulation_app.close()