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:
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.