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isaac-sim / IsaacGymEnvs

Isaac Gym Reinforcement Learning Environments
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KeyError when loading usd in franka_cube_ik_osc.py example #19

Closed janisa9 closed 2 years ago

janisa9 commented 2 years ago

The documentation says the following:

The load_asset method uses the file name extension to determine the asset file format. Supported extensions include .urdf for URDF files, .xml for MJCF files, and .usd/.usda for USD files.

However when I change the asset in franka_cube_ik_osc.py example to "urdf/franka_description/robots/franka_panda/franka_panda.usd" I get the following error:

Traceback (most recent call last): File "franka_cube_ik_osc.py", line 208, in <module> franka_hand_index = franka_link_dict["panda_hand"] KeyError: 'panda_hand'

Is there something in the example code that is not compatible with usd format?

gavrielstate commented 2 years ago

Sorry - this is a documentation error. The standalone Isaac Gym Preview release does not support loading USD I'm afraid. That will of course change with Omniverse Isaac Gym.