Prim path expression /World/env_0/robots/X1/Franka/panda_rightfinger is invalid, a prim matching the expression needs to created before wrapping it as view

[VictoriYang]

Hi, an error happened when I'was running python src/standalone/clean_example/pick_into_basket_lmdb.py like this:

 Prim path expression /World/env_0/robots/X1/Franka/panda_rightfinger is invalid, a prim matching the expression needs to created before wrapping it as view

Have you ever seen this before? Any advice would be really appreciated.

[xshenhan]

It seems the Franka robot loaded in Isaac Sim is located in an incorrect prim path. The expected root prim path for Franka should be:
/World/env_0/robots/X1/Franka

I’ll take some time to investigate which part of the code is causing the incorrect path. Thank you for your patience!

If you’d like to debug this issue yourself, here are some suggestions:

You can use the following methods to launch a GUI to view the prim paths of items.

1. WebRTC Browser Client
2. Omniverse Streaming Client

Note: Currently, the installation is only supported via Docker, so these two methods are the only options for visualization. The configuration process can be a bit challenging, especially if there are network issues. I’m also working on providing an alternative installation method directly on the host machine, which will be available soon.

Alternatively, you can use the Prim API to inspect and debug the prim path.

[xshenhan]

You can attempt to place this line:

prim = XFormPrim(prim_path=self._franka_prim_path)

before the following line:

robot = Franka(
    prim_path=self._franka_prim_path,
    name=self._franka_robot_name,
    usd_path=self.config.params.get("franka_usd_path", None),
)

However, please note that this might still encounter network-related issues, which could result in the robot being loaded incorrectly. To address this, I’ve updated the README and provided a pre-collected USD file for the Franka robot. You can try loading the robot locally using this file to avoid potential network problems. The detailed instructions are also in README.