lyf44
March 1, 2023, 3:03am
1
Apparently the articulation might choose the wrong link as root as mentioned in 4. ROS2 Transform Trees and Odometry — Omniverse Robotics documentation . Is there anyway to edit it from code?
Yes, you can change it by moving the PhysicsArticulationRootAPI, here are the rules:
float physics:stiffness = 0.0 (
customData = {
string apiName = "stiffness"
}
doc = """Stiffness of the drive. Units:
if linear drive: mass/second/second
if angular drive: mass*DIST_UNITS*DIST_UNITS/degree/second/second."""
)
}
class "PhysicsArticulationRootAPI"
(
customData = {
string className = "ArticulationRootAPI"
}
doc = """PhysicsArticulationRootAPI can be applied to a scene graph node,
and marks the subtree rooted here for inclusion in one or more reduced
coordinate articulations. For floating articulations, this should be on
the root body. For fixed articulations (robotics jargon for e.g. a robot
arm for welding that is bolted to the floor), this API can be on a direct
or indirect parent of the root joint which is connected to the world, or
If the API is applied somewhere at a top of a hierarchy a graph is computed and best possible root is picked. However if you apply the API directly on a body (for floating) or a joint (for fixed) this would define the root directly skipping the automation process.
Regards,
system
March 15, 2023, 7:42am
3
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