Nested prim and sensors

[AndreaRossetto]

Hi, I've imported the urdf file and converted into a usd with isaac sim 4.5, all the fixed joints are "nested" my problem now is how can I add a contact sensor to that prim?

foo_left_contact_sensor: ContactSensorCfg = ContactSensorCfg( prim_path="/World/envs/env_.*/Robot/Biped_robot_new/foot_left", history_length=3, update_period=0.005, track_air_time=True, filter_prim_paths_expr = [ "/World/ground/GroundPlane/CollisionPlane" ], )

Like you see in the image the prim foot is nested inside the parent "tarsus_left", I need to put a different contact sensor on the foot prim, How I can do it?

[RandomOakForest]

Thanks for posting this in our discussions. It seems you'll have to redo the file import with merge_fixed_joints = False.