Joint transform is not applied to child link before simulation start

Omniverse Isaac Sim
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1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

Topic Description

Steps to Reproduce

  1. Create Link1 in position [1, 0, 0]
  2. Create Link2 in position [0, 0, 0]
  3. Create Joint1 with both local positions [0, 0, 0]
    Links are not in correct positions before I press “Play”

Detailed Description

I am confused with isaacsim rigging procedure. It does not apply transformations to links that are stated in joints before I start simulation, so rigging my robot is ridiculously long and inconvenient, because I don’t see changes in links position in realtime.

Am I doing something wrong? Maybe there is some checkbox that make it work in realtime, so I can change joint local positions and see child link changing position? Also I dont see child links changing position when father link is moved.

Or there is some completely other procedure of rigging robot that I am not aware of?

2

Unlike scene graph transforms, joint transforms are part of the physics engine’s constraint system and are not applied to the visual mesh until simulation starts.

3

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