Don't know why this error happens #81

jimmyfu0729 · 2023-05-05T08:48:10Z

jimmyfu0729
May 5, 2023

I want to import the pepper robot into the orbit environment, but when I execute my code, the error below appears.

Traceback (most recent call last):
File "Asset/play_pepper.py", line 125, in
main()
File "Asset/play_pepper.py", line 77, in main
robot.spawn("/pepper", translation=(0.0, 0.0, 1.0))
File "/home/cjf/Desktop/Isaac/orbit/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/single_arm/single_arm.py", line 72, in spawn
super().spawn(prim_path, translation, orientation)
File "/home/cjf/Desktop/Isaac/orbit/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/robot_base.py", line 139, in spawn
kit_utils.set_articulation_properties(prim_path, **self.cfg.articulation_props.to_dict())
File "/home/cjf/Desktop/Isaac/orbit/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/kit.py", line 274, in set_articulation_properties
raise ValueError(f"No articulation schema present for prim '{prim_path}'.")
ValueError: No articulation schema present for prim '/pepper'.

Answered by Mayankm96

May 7, 2023

Does the USD file have the default prim as the articulation?

View full answer

jimmyfu0729 · 2023-05-06T01:47:00Z

jimmyfu0729
May 6, 2023
Author

Or is there anything I need to take care when I try to add a robot not in the library?

5 replies

Mayankm96 May 7, 2023
Maintainer

Does the USD file have the default prim as the articulation?

Answer selected by jimmyfu0729

jimmyfu0729 May 7, 2023
Author

I just start to use Isaac Sim, I imported the urdf model to usd but I merged the fixed links. I dont know if this will affect the loading. I think the articulation is automatically transfered to usd from urdf? All the joints have the same name as the default. But since there is no configuration class of humanoid robot, so I dont know if using this class is correct.

jimmyfu0729 May 8, 2023
Author

Does the USD file have the default prim as the articulation?

This is my configuration file, as there is no class of humanoid so I used MobileManipulatorCfg, but there should be two end effectors .

from omni.isaac.orbit.actuators.group import ActuatorGroupCfg
from omni.isaac.orbit.actuators.group.actuator_group_cfg import ActuatorControlCfg
from omni.isaac.orbit.actuators.model import ImplicitActuatorCfg
from omni.isaac.orbit.robots.single_arm import SingleArmManipulatorCfg
from omni.isaac.orbit.robots.mobile_manipulator import MobileManipulator
from omni.isaac.orbit.robots.mobile_manipulator import MobileManipulatorCfg

PEPPER_USD_PATH="/home/cjf/Desktop/Isaac/orbit/Orbit/Asset/pepper_description/urdf/pepper/pepper.usd"

PEPPER_CFG = MobileManipulatorCfg(
meta_info=MobileManipulatorCfg.MetaInfoCfg(
usd_path=PEPPER_USD_PATH,
base_num_dof=6,
arm_num_dof=33,
tool_num_dof=10,
tool_sites_names=["LFinger_13",
"LFinger_23",
"LFinger_33",
"LFinger_43",
"LThumb_2",
"RFinger_13",
"RFinger_23",
"RFinger_33",
"RFinger_43",
"RThumb_2",],

),
init_state=MobileManipulatorCfg.InitialStateCfg(
    dof_pos={
        # pepper base
   "BWheel_Yaw": 0.0,
   "BWheel_Pitch": 0.0,
   "FLWheel_Yaw": 0.0,
   "FLWheel_Pitch": 0.0,
   "FRWheel_Yaw": 0.0,
   "FRWheel_Pitch": 0.0,
        # pepper body
   "Knee_Pitch": 0.0,
   "Hip_Pitch": 0.0,
   "Hip_Roll": 0.0,
       "Head_Pitch": 0.0,
       "Head_Yaw": 0.0,
        # pepper left arm
       "LShoulderPitch": 0.0,
   "LShoulderRoll": 0.0,
   "LElbowYaw": 0.0,
   "LElbowRoll": 0.0,
       "LWristYaw": 0.0,
       "LWristRoll": 0.0,
    # pepper right arm
       "RShoulderPitch": 0.0,
   "RShoulderRoll": 0.0,
   "RElbowYaw": 0.0,
   "RElbowRoll": 0.0,
       "RWristYaw": 0.0,
       "RWristRoll": 0.0,
    # pepper left hand
   "LFinger_11": 0.0,
   "LFinger_21": 0.0,
       "LFinger_31": 0.0,
       "LFinger_41": 0.0,
   "LHand": 0.0,
   "LFinger_12": 0.0,
   "LFinger_22": 0.0,
   "LFinger_32": 0.0,
   "LFinger_42": 0.0,
   "LFinger_13": 0.0,
   "LFinger_23": 0.0,
   "LFinger_33": 0.0,
   "LFinger_43": 0.0,
   "LThumb_1": 0.0,
   "LThumb_2": 0.0,
    # pepper right hand
   "RFinger_11": 0.0,
   "RFinger_21": 0.0,
       "RFinger_31": 0.0,
       "RFinger_41": 0.0,
   "RHand": 0.0,
   "RFinger_12": 0.0,
   "RFinger_22": 0.0,
   "RFinger_32": 0.0,
   "RFinger_42": 0.0,
   "RFinger_13": 0.0,
   "RFinger_23": 0.0,
   "RFinger_33": 0.0,
   "RFinger_43": 0.0,
   "RThumb_1": 0.0,
   "RThumb_2": 0.0,
    },
    dof_vel={".*": 0.0},
),
ee_info=MobileManipulatorCfg.EndEffectorFrameCfg(
    body_name="i_wrist", pos_offset=(0.0, 0.0, 0.0), rot_offset=(1.0, 0.0, 0.0, 0.0)
),
rigid_props=SingleArmManipulatorCfg.RigidBodyPropertiesCfg(
    max_depenetration_velocity=5.0,
),
collision_props=SingleArmManipulatorCfg.CollisionPropertiesCfg(
    contact_offset=0.005,
    rest_offset=0.0,
),
articulation_props=SingleArmManipulatorCfg.ArticulationRootPropertiesCfg(
    enable_self_collisions=True,
),
actuator_groups={
    "pepper_base": ActuatorGroupCfg(
        dof_names=["BWheel_Yaw",
	       "BWheel_Pitch",
	       "FLWheel_Yaw",
	       "FLWheel_Pitch",
	       "FRWheel_Yaw",
	       "FRWheel_Pitch"
	      ],
        model_cfg=ImplicitActuatorCfg(velocity_limit=100.0, torque_limit=87.0),
        control_cfg=ActuatorControlCfg(
            command_types=["v_abs"],
            stiffness={".*": 800.0},
            damping={".*": 40.0},
            dof_pos_offset={
                "BWheel_Yaw": 0.0,
                "BWheel_Pitch": 0.0,
                "FLWheel_Yaw": 0.0,
	    "FLWheel_Pitch": 0.0,
	    "FRWheel_Yaw": 0.0,
	    "FRWheel_Pitch": 0.0
            },
        ),
    ),
    "pepper_body": ActuatorGroupCfg(
        dof_names=["Knee_Pitch"
	       "Hip_Pitch",
	       "Hip_Roll",
                   "Head_Pitch",
                   "Head_Yaw"],
        model_cfg=ImplicitActuatorCfg(velocity_limit=100.0, torque_limit=54.0),
        control_cfg=ActuatorControlCfg(
            command_types=["p_abs"],
            stiffness={".*": 800.0},
            damping={".*": 40.0},
            dof_pos_offset={"Knee_Pitch":0.0,
			"HipRoll": 0.0, 
			"HipPitch": 0.0, 
			"HeadPitch": 0.0, 
			"HeadYaw":0.0
	},
        ),
    ),
    "pepper_L_arm": ActuatorGroupCfg(
        dof_names=["LShoulderPitch",
	       "LShoulderRoll",
               "LElbowYaw",
	       "LElbowRoll",
	       "LWristYaw",
               "LWristRoll"],
        model_cfg=ImplicitActuatorCfg(velocity_limit=50.0, torque_limit=25.0),
        control_cfg=ActuatorControlCfg(
            command_types=["p_abs"],
            stiffness={".*": 800.0},
            damping={".*": 40.0},
            dof_pos_offset={"LShoulderPitch": 0.0, 
			"LShoulderRoll": 0.0,
			"LElbowYaw": 0.0,
			"LElbowRoll": 0.0,
			"LWristYaw": 0.0,
			"LWristRoll": 0.0,
	},
        ),
    ),
"pepper_R_arm": ActuatorGroupCfg(
        dof_names=["RShoulderPitch",
	       "RShoulderRoll",
               "RElbowYaw",
	       "RElbowRoll",
	       "RWristYaw",
               "RWristRoll"],
        model_cfg=ImplicitActuatorCfg(velocity_limit=50.0, torque_limit=25.0),
        control_cfg=ActuatorControlCfg(
            command_types=["p_abs"],
            stiffness={".*": 800.0},
            damping={".*": 40.0},
            dof_pos_offset={"RShoulderPitch": 0.0, 
			"RShoulderRoll": 0.0,
			"RElbowYaw": 0.0,
			"RElbowRoll": 0.0,
			"RWristYaw": 0.0,
			"RWristRoll": 0.0,
	},
        ),
    ),
    "pepper_L_hand": ActuatorGroupCfg(
        dof_names=["LFinger_11",
	       "LFinger_21",
               "LFinger_31",
	       "LFinger_41",
	       "LHand",
	       "LFinger_12"
	       "LFinger_22",
               "LFinger_32",
	       "LFinger_42",
	       "LFinger_13"
	       "LFinger_23",
               "LFinger_33",
	       "LFinger_43",
               "LThumb_1",
               "LThumb_2",
	      ],
        model_cfg=ImplicitActuatorCfg(velocity_limit=50.0, torque_limit=3.0),
        control_cfg=ActuatorControlCfg(
            command_types=["p_abs"],
            stiffness={".*": 800.0},
            damping={".*": 40.0},
            dof_pos_offset={"LFinger11": 0.0, 
			"LFinger12": 0.0,
			"LFinger13": 0.0,
			"LFinger21": 0.0,
			"LFinger22": 0.0,
			"LFinger23": 0.0,
			"LFinger31": 0.0,
			"LFinger32": 0.0,
			"LFinger33": 0.0,
			"LFinger41": 0.0,
			"LFinger42": 0.0,
			"LFinger43": 0.0,
			"LThumb1": 0.0,
			"LThumb2": 0.0,
			"LHand": 0.0,
	},
        ),
    ),

    "pepper_L_hand": ActuatorGroupCfg(
        dof_names=["RFinger_11",
	       "RFinger_21",
               "RFinger_31",
	       "RFinger_41",
	       "RHand",
	       "RFinger_12",
	       "RFinger_22",
               "RFinger_32",
	       "RFinger_42",
	       "RFinger_13",
	       "RFinger_23",
               "RFinger_33",
	       "RFinger_43",
               "RThumb_1",
               "RThumb_2",
	      ],
        model_cfg=ImplicitActuatorCfg(velocity_limit=50.0, torque_limit=3.0),
        control_cfg=ActuatorControlCfg(
            command_types=["p_abs"],
            stiffness={".*": 800.0},
            damping={".*": 40.0},
            dof_pos_offset={"RFinger11": 0.0, 
			"RFinger12": 0.0,
			"RFinger13": 0.0,
			"RFinger21": 0.0,
			"RFinger22": 0.0,
			"RFinger23": 0.0,
			"RFinger31": 0.0,
			"RFinger32": 0.0,
			"RFinger33": 0.0,
			"RFinger41": 0.0,
			"RFinger42": 0.0,
			"RFinger43": 0.0,
			"RThumb1": 0.0,
			"RThumb2": 0.0,
			"RHand": 0.0,
	},
        ),
    ),
},

)

BurgerAndreas Apr 26, 2024

Can you explain how you fixed the error? What does one add the default prim as the articulation? :)

Mayankm96 Apr 26, 2024
Maintainer

Maybe this helps:

https://www.youtube.com/watch?v=UyqwFWFpQfY&ab_channel=OrdinaryAlan
https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/usd/stage/set-default-prim.html

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Don't know why this error happens #81

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Don't know why this error happens #81

jimmyfu0729 May 5, 2023

Replies: 1 comment · 5 replies

jimmyfu0729 May 6, 2023 Author

Mayankm96 May 7, 2023 Maintainer

jimmyfu0729 May 7, 2023 Author

jimmyfu0729 May 8, 2023 Author

BurgerAndreas Apr 26, 2024

Mayankm96 Apr 26, 2024 Maintainer

jimmyfu0729
May 5, 2023

Replies: 1 comment 5 replies

jimmyfu0729
May 6, 2023
Author

Mayankm96 May 7, 2023
Maintainer

jimmyfu0729 May 7, 2023
Author

jimmyfu0729 May 8, 2023
Author

Mayankm96 Apr 26, 2024
Maintainer