Struggling with articulations and articulation inspector in tutorial 5.7

[mlasa]

Hello,

I’m trying to follow the articulation tutorial but I’m stuck when it comes to use the articulation inspector. I followed up the tutorial until step 6 where:

*Choose the prim_path that corresponds to the articulation under Select Articulation, value is World/denso

It seems that the articulation inspector should somehow let me choose the prim_path, but it doesnt give me any options. In the screenshot I’m using the franka robot but with the cobotta_pro_900 happens the exact same thing.

I tried setting a in the root_joint of the robot the articulation root but is not working, the inspector does not recognize the articulation. I’m sure this is a really simple issue but I’ve been looking for posts or videos in this forum and I can find anything. Whats the issue here?

I have used the urdf importer and followed the tutorial steps one by one so I guess that the issue must be somewhere else, as you can see in the picture, there is no “select articulation” option…

Thanks in advance!

[Simplychenable]

@mlasa i am just a passerby, but these threads may/may not be relevant:

5.7. Adding a New Manipulator problems

you can get it using the following code: assets_root_path = get_assets_root_path() asset_path = assets_root_path + “/Isaac/Robots/Denso/cobotta_pro_900.usd” replacing the script line 14 asset_path = “/home/user_name/cobotta_pro_900/cobotta_pro_900/cobotta_pro_900.usd” it will be automatically downloaded

Enhancements to URDF Importer Articulation in Version 2023.1.1 Ensure Consistent Root Link Designation for Improved Simulation Accuracy

Up until version 2023.1.0, the URDF importer assigned the ArticulationRootAPI to the top-level prim of the articulation structure. The root link was then identified by PhysX through an analysis of the kinematic tree. This practice was revised in version 2023.1.1, whereby the ArticulationRootAPI is now directly associated with the actual root link. For example, in version 2023.1.0, when importing a Franka URDF, the ArticulationRootAPI would be placed on /World/Franka, and PhysX might designate an…

[mlasa]

Thanks for answering me! I found the issue, somehow my robot was colliding with an object so everytime I pressed the run button the simulation was failing. I moved the robot and everything was ok.