I can successfully import a robot from a URDF file, but when I try to import pretty much the same file from a MJCF format I get the following error:
2023-04-03 16:53:07 [9,264ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/robot' 2023-04-03 16:53:07 [9,264ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle 2023-04-03 16:53:07 [9,264ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/robot' 2023-04-03 16:53:07 [9,264ms] [Error] [omni.physx.tensors.plugin] Pattern '/robot' did not match any articulations
The weird thing is that the exact same code works if I just change the import_config for the MJCF file and set
import_config.set_fix_base(True). However this isn’t a real solution since I don’t actually want to fix the base. Any suggestions on how to fix this?