Only one robot simulated in multi-robot scene (Isaac Lab)

[wtz19945]

Isaac Sim: 4.50/
Ubuntu 22.04

Hi, I tried to follow the tutorial to create usd file from mjcf file.
https://isaac-sim.github.io/IsaacLab/main/source/how-to/import_new_asset.html
and I was able to generate usd file.

Then I follow this tutorial to create ArticulationCfg and simulation code
https://isaac-sim.github.io/IsaacLab/main/source/tutorials/02_scene/create_scene.html

However, it seems that only one robot is being simulated (the one at the bottom-left corner). Other seem to just be fixed in space

If I just replace the usd_path with “usd_path=f”{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1.usd" in my code, I can simulate multiple robots in parallel so I think my simulation code should be fine.

I am wondering if there is any setup I need to do with the generated usd file.
Thanks

[RandomOakForest]

Thank you for posting this. It seems there is something missing in the equivalent of CartpoleSceneCfg in your case. Could you share your code, and the version of Isaac Lab you are using? Thanks.

[wtz19945]

Thanks for the reply.
I am using Isaac Lab 4.5

test_code.zip
Attached are the cfg code, simulation code, and also the generated usd file ( please let me know if there is anything missing).

[RandomOakForest]

Following up, I'll move this to our Discussions for the team to follow up.

[VShirokun]

I had the same problem.
The problem is in the importer and this is visual problem. All robots are learning, you just don't see this because they do not move visually (but they are learning)