Change articulation root from code

Omniverse Isaac Sim
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?

2

Yes, you can change it by moving the PhysicsArticulationRootAPI, here are the rules:

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,
Ales