因为prim path不同导致动态mesh检测失效

[KK-Zhou]

- anymal上成功，Frim树如下：'/World/envs/env_.*/Robot/LF_HIP/visuals'

- 而人形上失败，Frim树如下：Failed to initialize env dynamic meshes (parent-based): Prim path expression ['/World/envs/env_.*/Robot/L_leg_hip_pitch_link/visuals/l_leg_hip_pitch_link', '/World/envs/env_.*/Robot/R_leg_hip_pitch_link/visuals/r_leg_hip_pitch_link'] is invalid, a prim matching the expression needs to created before wrapping it as view

[aCodeDog]

也许你可以试试
/env_.*/Robot/R_leg_hip_pitch_link/- visuals/r_leg_hip_pitch_link/mesh这样？

[KK-Zhou]

也许你可以试试 /env_.*/Robot/R_leg_hip_pitch_link/- visuals/r_leg_hip_pitch_link/mesh这样？
这样会有syntax error？

[areofire]

i got the same problem,
and debug here self.all_env_dynamic_mesh_view = XFormPrim(parent_pattern_paths, reset_xform_properties=False)
[Error] [isaaclab.sensors.ray_caster.ray_caster] Failed to initialize env dynamic meshes (parent-based): Prim path expression ['/World/envs/env_./Robot/waist_yaw_link/visuals/waist_yaw_link/mesh', '/World/envs/env_./Robot/waist_roll_link/visuals/waist_roll_link/mesh'] is invalid, a prim matching the expression needs to created before wrapping it as view

[aCodeDog]

也许你可以试试 /env_.*/Robot/R_leg_hip_pitch_link/- visuals/r_leg_hip_pitch_link/mesh这样？
这样会有syntax error？

"- visuals" is a typo. i mean you can copy the prim path of the mesh via isaacsim simulator,so that the prim path will ok.like:

[aCodeDog]

i got the same problem, and debug here self.all_env_dynamic_mesh_view = XFormPrim(parent_pattern_paths, reset_xform_properties=False) [Error] [isaaclab.sensors.ray_caster.ray_caster] Failed to initialize env dynamic meshes (parent-based): Prim path expression ['/World/envs/env_./Robot/waist_yaw_link/visuals/waist_yaw_link/mesh', '/World/envs/env._/Robot/waist_roll_link/visuals/waist_roll_link/mesh'] is invalid, a prim matching the expression needs to created before wrapping it as view

I think this is because the robot was not created correctly, or you set the wrong prim path for your mesh.
One method is to first run the environment normally without using Raycaster, then find the corresponding mesh through the Isaacsim simulator stage, and then Right-click and copy the prim path. This prim path is usually correct.

[areofire]

solved it in a dirty way, this is my cofig
dynamic_env_mesh_prim_paths=[
"{ENV_REGEX_NS}/Robot/waist_yaw_link/visuals/waist_yaw_link/mesh",
"{ENV_REGEX_NS}/Robot/waist_roll_link/visuals/waist_roll_link/mesh",
"{ENV_REGEX_NS}/Robot/waist_pitch_link/visuals/waist_pitch_link/mesh",
"{ENV_REGEX_NS}/Robot/torso_link/visuals/torso_link/mesh",
"{ENV_REGEX_NS}/Robot/head_yaw_link/visuals/head_yaw_link/mesh",
"{ENV_REGEX_NS}/Robot/head_pitch_link/visuals/head_pitch_link/mesh",
]
and in RayCaster's function _initialize_env_dynamic_meshes:
geom_type = mesh_prim.GetTypeName()
if geom_type not in supported_geom_types:
omni.log.warn(
f"Env0 mesh prim at {mesh_path_env0} has unsupported type '{geom_type}' (skipping pattern)"
)
continue
parent_prim = mesh_prim.GetParent()
parent_prim = parent_prim.GetParent()
parent_prim = parent_prim.GetParent()

[AngLi-00]

i got the same problem, and debug here self.all_env_dynamic_mesh_view = XFormPrim(parent_pattern_paths, reset_xform_properties=False) [Error] [isaaclab.sensors.ray_caster.ray_caster] Failed to initialize env dynamic meshes (parent-based): Prim path expression ['/World/envs/env_./Robot/waist_yaw_link/visuals/waist_yaw_link/mesh', '/World/envs/env._/Robot/waist_roll_link/visuals/waist_roll_link/mesh'] is invalid, a prim matching the expression needs to created before wrapping it as view

I think this is because the robot was not created correctly, or you set the wrong prim path for your mesh. One method is to first run the environment normally without using Raycaster, then find the corresponding mesh through the Isaacsim simulator stage, and then Right-click and copy the prim path. This prim path is usually correct.

Also face this problem. I use urdf as my robot asset (in robot ArticulationCfg I use UrdfFileCfg rather than UsdFileCfg) and have this bug.

[XuaaanQWQ]

Either Facing the problem. In UrdfFileCfg, the prim path of mesh of robots: "{ENV_REGEX_NS}/Robot/right_hip_pitch_link/visuals/right_hip_pitch_link/node_STL_BINARY_/mesh",
"{ENV_REGEX_NS}/Robot/right_hip_yaw_link/visuals/right_hip_yaw_link/node_STL_BINARY_/mesh",
"{ENV_REGEX_NS}/Robot/right_hip_roll_link/visuals/right_hip_roll_link/node_STL_BINARY_/mesh",
"{ENV_REGEX_NS}/Robot/right_knee_link/visuals/right_knee_link/node_STL_BINARY_/mesh",
"{ENV_REGEX_NS}/Robot/right_ankle_pitch_link/visuals/right_ankle_pitch_link/node_STL_BINARY_/mesh",
"{ENV_REGEX_NS}/Robot/right_ankle_roll_link/visuals/right_ankle_roll_link/node_STL_BINARY_/mesh", There is a node_STL_BINARY_, Which cause bug: 2025-12-15T08:31:59Z [14,594ms] [Error] [isaaclab.sensors.ray_caster.ray_caster] Failed to initialize env dynamic meshes (parent-based): Prim path expression ['/World/envs/env_0/Robot/left_hip_roll_link/visuals/left_hip_roll_link/node_STL_BINARY_'] is invalid, a prim matching the expression needs to created before wrapping it as view
.

[hypercost]

@aCodeDog Are they different between isaacsim 4.5 and isaasim 5.0 usd files?

I dont see mesh type but cylinder type under prim path visual.