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Topic Description
Detailed Description
Hello, I m trying import a UR5e robot in IsaacLab and make my UR5e_CFG follow the UR10_CFG, then I want to run the UR5eReachEnvCFG follow the UR10ReachEnvCFG, but when I run the train.py, I met the following errors:
2025-05-15 04:36:02 [13,632ms] [Error] [omni.physx.plugin] PhysicsUSD: CreateJoint - no bodies defined at body0 and body1, joint prim: /World/envs/env_0/Robot/root_joint
2025-05-15 04:36:02 [13,645ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/envs/env_0/Robot/root_joint'
2025-05-15 04:36:02 [13,645ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/envs/env_*/Robot/root_joint' did not match any rigid bodies
2025-05-15 04:36:02 [13,645ms] [Error] [omni.physx.tensors.plugin] Provided pattern list did not match any articulations
Traceback (most recent call last):
File "/root/hgh/IsaacLab/source/isaaclab/isaaclab/assets/asset_base.py", line 94, in <lambda>
lambda event, obj=weakref.proxy(self): obj._initialize_callback(event),
File "/root/hgh/IsaacLab/source/isaaclab/isaaclab/assets/asset_base.py", line 265, in _initialize_callback
self._initialize_impl()
File "/root/hgh/IsaacLab/source/isaaclab/isaaclab/assets/articulation/articulation.py", line 1180, in _initialize_impl
raise RuntimeError(f"Failed to create articulation at: {self.cfg.prim_path}. Please check PhysX logs.")
RuntimeError: Failed to create articulation at: /World/envs/env_.*/Robot. Please check PhysX logs.
It seems lik the root_joint in ur5e.usd lost some body define.
I checked the joint of ur10_instanceable.usd, I find it’s joints names are below:
I’m not sure whether its the source of my problem, did sb meet similary problem?
Another reason I suspect is my ur5e.usd doesnot have the link between tha table, because it mentioned the root_joint, the robot in ReachEnvCfg is on a table, my ur5e is just convert from a single ur5e.urdf.
Below is some my codes.
UR5e_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=ur5e_usd_path,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=5.0,
),
activate_contact_sensors=False,
),
init_state=ArticulationCfg.InitialStateCfg(
joint_pos={
"shoulder_pan_joint": 0.0,
"shoulder_lift_joint": -1.57,
"elbow_joint": 1.57,
"wrist_1_joint": 0.0,
"wrist_2_joint": 0.0,
"wrist_3_joint": 0.0,
},
),
actuators={
"arm": ImplicitActuatorCfg(
# joint_names_expr=[".*"],
joint_names_expr=["shoulder_*", "elbow_*", "wrist_*"],
velocity_limit=180.0,
effort_limit=150.0,
stiffness=600.0,
damping=30.0,
),
},
)
...
class UR5eReachEnvCfg(ReachEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# >>>>>>>>>>>>>>>>>>>>>>>>>>>> debug
self.scene.num_envs = 1
# <<<<<<<<<<<<<<<<<<<<<<<<<<<<
# switch robot to ur5e
self.scene.robot = UR5e_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# override events
self.events.reset_robot_joints.params["position_range"] = (0.75, 1.25)
# override rewards
self.rewards.end_effector_position_tracking.params["asset_cfg"].body_names = ["ee_link"]
self.rewards.end_effector_position_tracking_fine_grained.params["asset_cfg"].body_names = ["ee_link"]
self.rewards.end_effector_orientation_tracking.params["asset_cfg"].body_names = ["ee_link"]
# override actions
self.actions.arm_action = mdp.JointPositionActionCfg(
asset_name="robot", joint_names=[".*"], scale=0.5, use_default_offset=True
)
# override command generator body
# end-effector is along x-direction
self.commands.ee_pose.body_name = "ee_link"
self.commands.ee_pose.ranges.pitch = (math.pi / 2, math.pi / 2)
@configclass
class UR5eReachEnvCfg_PLAY(UR5eReachEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# disable randomization for play
self.observations.policy.enable_corruption = False
