"Combined robot simulation problem"

[agj-neu]

I followed the provided Assemble tutorial to use a quadruped robot as a mobile base for a robotic arm, but when both the quadruped and the arm are in the same directory, Isaac Lab reports that it cannot find the arm joints during simulation.Below are my simulation environment and error message.
# cartpole
robot: ArticulationCfg = ArticulationCfg(
prim_path="/World/envs/env_.*/Robot",
spawn=sim_utils.UsdFileCfg(
usd_path="/home/ubuntu2004/GRScenes/robots/aliengo/aliengo_camera_only.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
rigid_body_enabled=True,
max_linear_velocity=1000.0,
max_angular_velocity=1000.0,
max_depenetration_velocity=100.0,
enable_gyroscopic_forces=True,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False,
solver_position_iteration_count=4,
solver_velocity_iteration_count=0,
sleep_threshold=0.005,
stabilization_threshold=0.001,
),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 1.5),
rot=(0.7071, -0.7071, 0.0, 0.0),
#rot=(1.0, 0.0, 0.0, 0.0), # (w,x,y,z)格式的四元数，表示直立姿态
joint_pos={
"FL_hip_joint": 0.0, "FR_hip_joint": 0.0,
"RL_hip_joint": 0.0, "RR_hip_joint": 0.0,
"FL_thigh_joint": 0.0, "FR_thigh_joint": 0.0,
"RL_thigh_joint": 0.0, "RR_thigh_joint": 0.0,
"FL_calf_joint": -1, "FR_calf_joint": -1,
"RL_calf_joint": -1, "RR_calf_joint": -1,
"panda_joint1": 0.0, "panda_joint2": 0.0,
"panda_joint3": 0.0, "panda_joint4": -1,
"panda_joint5": 0.0, "panda_joint6": 0.0,
"panda_joint7": 0.0,
#"panda_finger_joint1": 0.0, "panda_finger_joint2": 0.0, # 如需控制夹爪则取消注释
},
),
actuators={
# 髋关节执行器 (hip joints)
"fl_hip_actuator": ImplicitActuatorCfg(
joint_names_expr=["FL_hip_joint"],
effort_limit=400.0,
velocity_limit=100.0,
stiffness=40.0, # 使用Aliengo中定义的kps值
damping=2.0, # 使用Aliengo中定义的kds值
),
"fr_hip_actuator": ImplicitActuatorCfg(
joint_names_expr=["FR_hip_joint"],
effort_limit=400.0,
velocity_limit=100.0,
stiffness=40.0,
damping=2.0,
),
"rl_hip_actuator": ImplicitActuatorCfg(
joint_names_expr=["RL_hip_joint"],
effort_limit=400.0,
velocity_limit=100.0,
stiffness=40.0,
damping=2.0,
),
"rr_hip_actuator": ImplicitActuatorCfg(
joint_names_expr=["RR_hip_joint"],
effort_limit=400.0,
velocity_limit=100.0,
stiffness=40.0,
damping=2.0,
),

        # 大腿关节执行器 (thigh joints)
        "fl_thigh_actuator": ImplicitActuatorCfg(
            joint_names_expr=["FL_thigh_joint"],
            effort_limit=400.0,
            velocity_limit=100.0,
            stiffness=40.0,
            damping=2.0,
        ),
        "fr_thigh_actuator": ImplicitActuatorCfg(
            joint_names_expr=["FR_thigh_joint"],
            effort_limit=400.0,
            velocity_limit=100.0,
            stiffness=40.0,
            damping=2.0,
        ),
        "rl_thigh_actuator": ImplicitActuatorCfg(
            joint_names_expr=["RL_thigh_joint"],
            effort_limit=400.0,
            velocity_limit=100.0,
            stiffness=40.0,
            damping=2.0,
        ),
        "rr_thigh_actuator": ImplicitActuatorCfg(
            joint_names_expr=["RR_thigh_joint"],
            effort_limit=400.0,
            velocity_limit=100.0,
            stiffness=40.0,
            damping=2.0,
        ),

        # 小腿关节执行器 (calf joints)
        "fl_calf_actuator": ImplicitActuatorCfg(
            joint_names_expr=["FL_calf_joint"],
            effort_limit=400.0,
            velocity_limit=100.0,
            stiffness=40.0,
            damping=2.0,
        ),
        "fr_calf_actuator": ImplicitActuatorCfg(
            joint_names_expr=["FR_calf_joint"],
            effort_limit=400.0,
            velocity_limit=100.0,
            stiffness=40.0,
            damping=2.0,
        ),
        "rl_calf_actuator": ImplicitActuatorCfg(
            joint_names_expr=["RL_calf_joint"],
            effort_limit=400.0,
            velocity_limit=100.0,
            stiffness=40.0,
            damping=2.0,
        ),
        "rr_calf_actuator": ImplicitActuatorCfg(
            joint_names_expr=["RR_calf_joint"],
            effort_limit=400.0,
            velocity_limit=100.0,
            stiffness=40.0,
            damping=2.0,
        ),

        # Panda机械臂执行器
        "panda_joint1_actuator": ImplicitActuatorCfg(
            joint_names_expr=["panda_joint1"],
            effort_limit=87.0,  # Panda机械臂的力矩限制
            velocity_limit=2.5,  # Panda机械臂的速度限制
            stiffness=400.0,     # Panda适合的刚度值
            damping=40.0,        # Panda适合的阻尼值
        ),
        "panda_joint2_actuator": ImplicitActuatorCfg(
            joint_names_expr=["panda_joint2"],
            effort_limit=87.0,
            velocity_limit=2.5,
            stiffness=400.0,
            damping=40.0,
        ),
        "panda_joint3_actuator": ImplicitActuatorCfg(
            joint_names_expr=["panda_joint3"],
            effort_limit=87.0,
            velocity_limit=2.5,
            stiffness=400.0,
            damping=40.0,
        ),
        "panda_joint4_actuator": ImplicitActuatorCfg(
            joint_names_expr=["panda_joint4"],
            effort_limit=87.0,
            velocity_limit=2.5,
            stiffness=400.0,
            damping=40.0,
        ),
        "panda_joint5_actuator": ImplicitActuatorCfg(
            joint_names_expr=["panda_joint5"],
            effort_limit=12.0,  # 末端关节通常力矩限制较小
            velocity_limit=3.0,
            stiffness=400.0,
            damping=40.0,
        ),
        "panda_joint6_actuator": ImplicitActuatorCfg(
            joint_names_expr=["panda_joint6"],
            effort_limit=12.0,
            velocity_limit=3.0,
            stiffness=400.0,
            damping=40.0,
        ),
        "panda_joint7_actuator": ImplicitActuatorCfg(
            joint_names_expr=["panda_joint7"],
            effort_limit=12.0,
            velocity_limit=3.0,
            stiffness=400.0,
            damping=40.0,
        ),
        # 如果您也想控制夹爪，取消下面的注释
         "panda_finger_joint1_actuator": ImplicitActuatorCfg(
            joint_names_expr=["panda_finger_joint1"],
             effort_limit=20.0,
             velocity_limit=0.2,
             stiffness=200.0,
             damping=20.0,
         ),
         "panda_finger_joint2_actuator": ImplicitActuatorCfg(
             joint_names_expr=["panda_finger_joint2"],
             effort_limit=20.0,
             velocity_limit=0.2,
             stiffness=200.0,
             damping=20.0,
         ),
    },
)

# lights
dome_light = AssetBaseCfg(
    prim_path="/World/DomeLight",
    spawn=sim_utils.DomeLightCfg(color=(0.9, 0.9, 0.9), intensity=500.0),
)

MDP settings

@configclass
class ActionsCfg:
"""Aliengo机器人和Panda机械臂动作空间配置"""

# 所有关节使用位置控制
joint_positions = mdp.JointPositionActionCfg(
    asset_name="robot",
    joint_names=[
        # 髋关节
        "FL_hip_joint", "FR_hip_joint", 
        "RL_hip_joint", "RR_hip_joint",
        # 大腿关节
        "FL_thigh_joint", "FR_thigh_joint", 
        "RL_thigh_joint", "RR_thigh_joint",
        # 小腿关节
        "FL_calf_joint", "FR_calf_joint", 
        "RL_calf_joint", "RR_calf_joint",
        # Panda机械臂关节
        "panda_joint1", "panda_joint2",
        "panda_joint3", "panda_joint4",
        "panda_joint5", "panda_joint6",
        "panda_joint7",
        # 如果需要控制夹爪，取消下面的注释
        # "panda_finger_joint1", "panda_finger_joint2"
    ],
    scale=1.0  # 可以根据需要调整缩放因子
)

ValueError: Not all regular expressions are matched! Please check that the regular expressions are correct:
FL_hip_joint: ['FL_hip_joint']
FR_hip_joint: ['FR_hip_joint']
RL_hip_joint: ['RL_hip_joint']
RR_hip_joint: ['RR_hip_joint']
FL_thigh_joint: ['FL_thigh_joint']
FR_thigh_joint: ['FR_thigh_joint']
RL_thigh_joint: ['RL_thigh_joint']
RR_thigh_joint: ['RR_thigh_joint']
FL_calf_joint: ['FL_calf_joint']
FR_calf_joint: ['FR_calf_joint']
RL_calf_joint: ['RL_calf_joint']
RR_calf_joint: ['RR_calf_joint']
panda_joint1: []
panda_joint2: []
panda_joint3: []
panda_joint4: []
panda_joint5: []
panda_joint6: []
panda_joint7: []
Available strings: ['FL_hip_joint', 'FR_hip_joint', 'RL_hip_joint', 'RR_hip_joint', 'FL_thigh_joint', 'FR_thigh_joint', 'RL_thigh_joint', 'RR_thigh_joint', 'FL_calf_joint', 'FR_calf_joint', 'RL_calf_joint', 'RR_calf_joint']

"But when I placed the robotic arm as a subdirectory under the quadruped robot, the arm's joints were detected but couldn't move properly. The connection point seems to be fixed in place."​​

[agj-neu]

This image shows the state that persists no matter how long it runs—it's not standing up due to successful training."

[agj-neu]

Another possible reason is rot=(0.7071, -0.7071, 0.0, 0.0)—I added this rotation because the loaded robot wasn't standing upright initially but was instead lying on its side. If possible, please tell me how to set my robot's initial pose to a standing position.

[RandomOakForest]

Thank you for posting this. I'll move the post to our Discussions section for the team to follow up. In the original post, try adding tick marks (```) around the paragraphs in your code so it becomes easy to read. Thanks.

[agj-neu]

Thank you for your reply. What information should I provide now to facilitate further discussion?"