Why is the ground plane not placed within the /World/envs/env_* prim path

[brandon-lawrence96]

Hi. I would like to understand your reasoning behind why you did not place the ground plane within the /World/envs/env_* prim path. When I try to do this by modifying the terrain prim_path in the SceneCfg I get the following error:

Traceback (most recent call last):
File "/home/ubuntu/go2_omniverse/main.py", line 29, in
run_sim()
File "/home/ubuntu/go2_omniverse/omniverse_sim.py", line 202, in run_sim
env = gym.make(args_cli.task, cfg=env_cfg)
File "/home/ubuntu/IsaacLab-0.3.1/_isaac_sim/kit/python/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 802, in make
env = env_creator(**env_spec_kwargs)
File "/home/ubuntu/IsaacLab-0.3.1/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py", line 86, in init
super().init(cfg=cfg)
File "/home/ubuntu/IsaacLab-0.3.1/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py", line 119, in init
self.scene = InteractiveScene(self.cfg.scene)
File "/home/ubuntu/IsaacLab-0.3.1/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py", line 101, in init
self._add_entities_from_cfg()
File "/home/ubuntu/IsaacLab-0.3.1/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py", line 338, in add_entities_from_cfg
self.terrain = asset_cfg.class_type(asset_cfg)
File "/home/ubuntu/IsaacLab-0.3.1/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py", line 104, in init
self.import_ground_plane("terrain")
File "/home/ubuntu/IsaacLab-0.3.1/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py", line 200, in import_ground_plane
ground_plane_cfg.func(self.cfg.prim_path, ground_plane_cfg)
File "/home/ubuntu/IsaacLab-0.3.1/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files.py", line 137, in spawn_ground_plane
prim_utils.create_prim(prim_path, usd_path=cfg.usd_path, translation=translation, orientation=orientation)
File "/home/ubuntu/.local/share/ov/pkg/isaac-sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/prims.py", line 725, in create_prim
prim = define_prim(prim_path=prim_path, prim_type=prim_type)
File "/home/ubuntu/.local/share/ov/pkg/isaac-sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/prims.py", line 206, in define_prim
return get_current_stage(fabric=fabric).DefinePrim(prim_path, prim_type)
pxr.Tf.ErrorException:
Error in 'pxrInternal_v0_22__pxrReserved::UsdStage::_IsValidPathForCreatingPrim' at line 3340 in file /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp : 'Path must be an absolute path: <>'

I am wondering if you know of a way that I can achieve this. Thank you for your assistance!