Articulation Root only forwarding joint commands to some joints

Omniverse Isaac Sim
2

Issue has been resolved. Not entirely sure which of these changes resolved the issue, but I learned/changed:

  1. Only 1 articulation root was used, though I could not find any documentation that explicitly stated this was necessary (source: Articulations — Omniverse Extensions latest documentation)

  2. Prims in the stage tree were organized to have no prims with rigid body APIs as children of other prims with rigid body APIs (source: Simulation of multiple RigidBodyAPI's in a hierarchy).

  3. I commented out as many of the cache volumes as possible when launching Isaac Sim in my docker container, in case something cached from a previous Isaac Sim crash was causing a problem when I restarted my Isaac Sim docker container. You can see my docker files (and launch my project was a demo if you want) here: GitHub - keenan88/isaacsim_ros2_greenhouse at 45d1f382ba7075aeab50d741c0dee3ce347d3230.

I hope this helps out someone else as they learn to use Isaac Sim.