SDF to USD: set UsdPhysicsArticulationRootAPI #914
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Signed-off-by: ahcorde <ahcorde@gmail.com>
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## sdf12 #914 +/- ##
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- Coverage 88.05% 88.00% -0.06%
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Files 100 100
Lines 14696 14714 +18
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+ Hits 12941 12949 +8
- Misses 1755 1765 +10
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Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
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@adlarkin I made more changes, it was not working in same cases. |
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
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| if (!markedArticulationRoot && !_model.Static()) | ||
| { | ||
| if (!pxr::UsdPhysicsRigidBodyAPI::Apply(modelPrim)) |
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I have a few questions about this:
- If we are marking the model as a rigid body API, then why do we need to also mark the link as a rigid body API? I believe that marking only the model as a rigid body API should be sufficient, since the link is a child prim of the model prim.
- In the first
ifblock, why do we check if the model is not static and if the model has not been marked as an articulation root? As I understand it,pxr::UsdPhysicsRigidBodyAPIonly implies static/non-static, which means that articulation root API should not have any influence on whether a prim is marked as a rigid body API or not. The only thing that should influence whether a prim is a rigid body API is whether it is static or not, so I believe the firstifstatement here should only check if the model is not static instead of checking of the model isn't static and also isn't marked as an articulation root API.
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When I was converting the panda robot to USD I was having some issues. Here it's what I found testing the model in Isaac Sim
- A
UsdPhysicsRigidBodyAPIcan't be marked asrigidbodyotherwise I was having issue with the joints - If the parent is marked as
UsdPhysicsRigidBodyAPIthen I need to set all children torigidbody.
I don't have a clear explanation about why is this happening but I fix this based on the behaviour in Issac Sim
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Okay, thanks for the feedback 👍 so if a model prim is marked as an articulation root API, but not as a rigid body API, does it still move without issues? From the initial reading I did on USD, if a prim isn't marked as a rigid body, then I thought this prim would be interpreted as static.
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
Signed-off-by: ahcorde ahcorde@gmail.com
🦟 Bug fix
We should set the
UsdPhysicsArticulationRootAPIto allow articulation arms to move in IsaacSimSummary
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