The light in sortbot_sim.usd is working fine. It follow the UR10 when moving the join in Simulation
omni:/Users/isaac/Samples/Isaac_SDK/Scenario/sortbot_sim.usd
but when opened up ur10.usd I create the light. I saw the light icon is moving but the light and shadow remain at the same place as the light not following.
omni:/Users/isaac/Robots/UR10/ur10.usd
Hi,
I have been doing some test and I have the next non-absolute and non-infallible conclusion that can be help:
To create a moving light attached to an object there must be a primitive of type Camera that shares a common XForm with it
The next image shows some evidence about it…
The short_gripper and long_gripper used have a Camera primitive in their descriptions (Isaac\Robots\UR10\Props)
The moving light in the Kaya Joystick sample doesn’t work in the original version (but it should work according to the documentation), but it works when a Camera is included in the same XForm (base_link)
To test the Kaya Joystick sample (moving the robot) without a joystick the next code added inside the function _on_editor_step in /isaac-sim/_build/linux-x86_64/release/exts/omni.isaac.samples/omni/isaac/samples/scripts/kaya_preview.py line 125 can be help
self._on_event_fn(1, 0.2)
Hi toni.sm,
It work with camera here. bug maybe, but how the sample sortbot_sim.usd working? maybe author using other USD editor i guess.
but not work with XForm
and Thank you very much toni.sm!
Hi,
In the “sortbot_sim.usd” sample the robot has a gripper (long_gripper) with includes a Camera primitive by default, that is the reason why it works… I guess
Btw, you can toggle the visibility of the Camera primitive (if you don’t want to see the camera) and the moving light will still work
