URDF Importer unable to add Articulation Root

Omniverse Isaac Sim
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1

I was using Isaac Sim URDF Importer to import my robot urdf files into usd. However, I cannot add the Articulation Root to the whole robot.
Is there a way for me to fix it?

Isaac Sim Version

4.2.0

Isaac Lab Version (if applicable)

1.2

Operating System

Ubuntu 22.04

2

Please refer to the following relevant documentation:

If these resources do not address your issue, please provide additional details, such as:

  1. The steps you followed.
  2. Any error messages encountered.
  3. The URDF file you are working with.

This will help us better understand the problem and provide more targeted assistance.

3

Have you resolved the issue? Is your problem similar to what is described in Unable to add articulation to a custom biped robot?

4

The URDF Importer should automatically assign an articulation root for the robot.

If it’s a fixed base, the articulation root will be applied at the root_joint.

If It’s a moving base the root will be applied at the primary link of the robot

5

Currently I’m using the turtlebot3_waffle of the turtlebot3_description ros2 package, and the Articulation root is in the base_footprint of the robot.
However what I wanted is that the articulation root is the turtlebot3_waffle prim.
[Link][ROS2 Joint Control: Extension Python Scripting — Omniverse IsaacSim]
I have been following the above documentation for publishing the joint state of the robot, but it keeps getting the error of “Prim is not an Articulation” when i use the whole robot as the target prim like the example.

7

If you have any code of Isaac Sim Python API for setting and unsetting Articulation Root that’s even better.