Isaac Sim Version
[v] 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
[v] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
NVIDIA GeForce RTX 4070
NVIDIA-SMI 535.183.01
Topic Description
Detailed Description
It always have an error when I run the code below.
code :
def set_robot(self) → SingleManipulator:
#TODO: change the asset path here
asset_path = “/home/piper_description/urdf/piper_description/piper_description.usd”
add_reference_to_stage(usd_path=asset_path, prim_path=“/World/piper_description”)
gripper = ParallelGripper(
end_effector_prim_path=“/World/piper_description/link6”,
#end_effector_prim_path=“/World/piper_description/link8”,
joint_prim_names=[“joint7”, “joint8”],
joint_opened_positions=np.array([0.038, -0.038]),
joint_closed_positions=np.array([0,0]),
action_deltas=np.array([0.038, -0.038]) )
manipulator = SingleManipulator(prim_path=“/World/piper_description”,
name=“piper_description”,
end_effector_prim_name=“link6”,
#end_effector_prim_name=“link8”,
gripper=gripper)
joints_default_positions = np.zeros(8)
joints_default_positions[6] = 0.0
joints_default_positions[7] = 0.0
manipulator.set_joints_default_state(positions=joints_default_positions)
return manipulator
Steps to Reproduce
(Add more steps as needed)
Error Messages
[Error] [omni.physx.plugin] PhysX error: attachShape: non-SDF triangle mesh, tetrahedron mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for non-kinematic PxRigidDynamic instances., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 390
Screenshots or Videos
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Additional Information
What I’ve Tried
I changed the mesh in usd to SDF mesh , convexHull or convex decomposition, there is still have this error.
Related Issues
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Additional Context
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