Hello. I am developing a manipulator simulator having 60dofs.
In ISAAC SIM, after adding a Joint, for example, revolute joint, there is a menu to add “Joint State Angular”. Doing it 60times is quite time consuming.
I found many Python functions to make the joints and to add Drivers, but could not find the function to add “JointState”. Does anyone know how to do it?
Hi,
yes you can do that from python, its a multiple applied schema, so for a revolute joint its an angular state, the code looks like this:
from pxr import PhysxSchema
jointStateAPI = PhysxSchema.JointStateAPI.Apply(revoluteJointPrim, "angular")
Regards,
Ales
Thank you. It works well. It saves lots of time.