ValueError: No contact sensors added to the prim: '/World/envs/env_0/Robot'. This means that no rigid bodies are present under this prim. Please check the prim path.

[LuXiangyu666]

I set the 'task' parameter to 'Isaac-Vocity-Rough-G1-v0' in scripts/reinforcement_1earning/rsl-rl/trainpy, and received an error message:

Traceback (most recent call last):
File "e:/project/isaaclab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main
func(env_cfg, agent_cfg, *args, **kwargs)
File "E:\Project\IsaacLab\scripts\reinforcement_learning\rsl_rl\train.py", line 142, in main
env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
File "e:/project/isaaclab/_isaac_sim/exts/omni.isaac.ml_archive/pip_prebundle/gymnasium/envs/registration.py", line 802, in make
env = env_creator(**env_spec_kwargs)
File "e:/project/isaaclab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 82, in init
super().init(cfg=cfg)
File "e:/project/isaaclab/source/isaaclab/isaaclab/envs/manager_based_env.py", line 130, in init
self.scene = InteractiveScene(self.cfg.scene)
File "e:/project/isaaclab/source/isaaclab/isaaclab/scene/interactive_scene.py", line 152, in init
self._add_entities_from_cfg()
File "e:/project/isaaclab/source/isaaclab/isaaclab/scene/interactive_scene.py", line 656, in _add_entities_from_cfg
self._articulations[asset_name] = asset_cfg.class_type(asset_cfg)
File "e:/project/isaaclab/source/isaaclab/isaaclab/assets/articulation/articulation.py", line 100, in init
super().init(cfg)
File "e:/project/isaaclab/source/isaaclab/isaaclab/assets/asset_base.py", line 81, in init
self.cfg.spawn.func(
File "e:/project/isaaclab/source/isaaclab/isaaclab/sim/utils.py", line 276, in wrapper
schemas.activate_contact_sensors(prim_paths[0], cfg.activate_contact_sensors)
File "e:/project/isaaclab/source/isaaclab/isaaclab/sim/schemas/schemas.py", line 519, in activate_contact_sensors
raise ValueError(
ValueError: No contact sensors added to the prim: '/World/envs/env_0/Robot'. This means that no rigid bodies are present under this prim. Please check the prim path.
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.

But when I set the "task" parameter to "Isaac-Vocity-Flat-Unitre-Go2-v0" to train the robot dog, it works normally and can reason normally. I am using assets downloaded locally, and I noticed that someone said they needed to set the default prim, but I don't know how to do it specifically

[RandomOakForest]

Thanks for posting this. You may have to adjust some settings according to #1536. Let us know if that doesn't work.