Problems when trying to get the animated skeleton pose

Omniverse Isaac Sim
,
1

I want to get bounding boxes of animated characters from Isaac Sim. But getting the character’s pose relative to the world does not work.

There is some issues that i’ve notice:

Using Omniverse Create App we can see the changing coordinates of the root prim of the skeleton

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But it doesn’t work for Isaac Sim 2022.2.1

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It also doesn’t work for me using Isaac Sim Python API. There is my code and it’s output for getting bounding boxes of characters and their poses relative the world:

# --- Getting boxes loop ---
need_boxes = get_boxes.Get_boxes(config_usd_path)
people_pathes = need_boxes.get_skels_pathes(["man1"])

while simulation_app.is_running():
   simulation_app.update()

   xform = XFormPrim(prim_path=people_pathes[0], name="Man1")
   xform_pose = XFormPrim(prim_path=people_pathes[0] + "/Man1/Man1/RL_BoneRoot")

   scen = Scene()
   scen.add(xform)
   scen.enable_bounding_boxes_computations()
   comp = scen.compute_object_AABB(name="Man1")
   print("\n\n")
   print("Bounding box:\n", comp)
   print("Pose:")
   print(xform_pose.get_world_pose()[0])
   print(xform_pose.get_world_pose()[1])

simulation_app.close()

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2

Hello, I don’t have answer to your problem but can you let me know how you have created this scene and how did you provide animation to the human models ? If possible can you share the USD file ?

I am trying to create a same scene myself and I am totally new to this. A little help would mean a lot. Thanks!

3

@hmazhar