Trouble using an Articulation via extension

[aaron121]

I’m trying to work out how to get an Articulation instance in my extension.

I have two questions:

1. What path do you specify for the articulation prim? Below is my project and the articulation root is attached to the “body” element. I get the error “failed to get articulation at /World/omeo/body”.

self.prim = Articulation(prim_path= "/World/omeo/body", name="mybot")

2. I also get the error “DcGetArticulationRootBody: Function called while not simulating” and “Failed to create simulation view: No active physics scene found.”

I understand that I have to initialize the Articulation after the Play button has been pressed so I’m attempting to do this by listening to a stage event, however, that does not work. What is the best practice for initializing an Articulation?

   if event.type == int(omni.timeline.TimelineEventType.PLAY):
             self.prim.initialize()

[rthaker]

Hi @aaron121 - are you following this tutorial or something different?
https://docs.omniverse.nvidia.com/isaacsim/latest/features/physics/ext_omni_isaac_inspect_physics.html

[aaron121]

I ended up removing the articulation and adding it back again as well as initializing the articulation during the on_physics_step event which seemed to do the trick. Thanks for the link about the inspect physics extension. I had not found that done but will use it now!