Isaac sim standalone python api, specify root link of articulation

[salmi.chadi]

Hi,

I have a question about how to specify the root prim of an articulation. To illustrate my question let’s say we have a robot with 3 links:

• my_robot
  • base_link
  • chassis_link
  • imu_link

Then I add the robot using the python api like this:
add(Robot(prim_path, name="my_robot", position=[0, 0, 2], orientation=[0, 0, 0, 1]))

However the robot spawns w.r.t. the imu link’s position instead of the base_link. This is also reflected in the TF graph, where the transform is always from world->imu_link->others.

So my question is, how do I specify that base_link should be the root link.

[salmi.chadi]

Still stuck on this unfortunately. Using the dynamic_control api I’m able to print the articulation_root_body using the functions get_articulation_root_body() and get_rigid_body_name().

Does anyone know how the root body of an articulation is chosen? or how I can change the root body of the articulation?

[salmi.chadi]

Nevermind I found my problem in this thread. Applying the root_articulation property to the right prim fixed it for me.