Question
Hello there,
I’m trying to import Leap Hand URDF into USD with Isaac Sim URDF Importer. After deriving the USD file, I use ArticulationCfg class to instantiate the leap hand model, however, I found errors below:
RuntimeError: Failed to find an articulation when resolving '/World/envs/env_.*/Robot'. Please ensure that the prim has 'USD ArticulationRootAPI' applied.
Then, I set the leap hand prim as articulation root instead of the root joint, this error disappeared, while another error occurred:
2025-02-11 12:32:49 [15,706ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/envs/env_0/Robot' 2025-02-11 12:32:49 [15,706ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/envs/env_1/Robot' 2025-02-11 12:32:49 [15,706ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/envs/env_*/Robot' did not match any rigid bodies 2025-02-11 12:32:49 [15,706ms] [Error] [omni.physx.tensors.plugin] Provided pattern list did not match any articulations
It seems that the USD file generated by the URDF Importer doesn’t have articulation. Attached image shows the prims structure. I was hoping someone could lend me a hand. I’d be delighted to hear about it, thank you in advance!
Kind Regards,
Zhaohui Lin :)
