I have created a custom humanoid usd with only one hand as attached.
humanoid_omni_headless_left_arm.usd (113.8 KB)
I have created 7 joints and from isaac sim they are working. I have added robot engine bridge(with correct relationship) in the usd.
I have written a custom code to control the joints from isaac sdk similar to ur10 as attached. Below code is working with ur10_basic scenario usd file by changing kinematic json and limits. But while loading custom humanoid usd joint position are not moving from slider (though I can see using a custom node that messages are getting transmitted and received by simulation interface). Please let me know if there is anything wrong with my usd file so that I can make it work?
BUILD (432 Bytes) humanoid_sim.app.json (1.6 KB) humanoid_sim.ipynb (655.3 KB)
humanoid_omni_headless_lefthand.kinematic.json (3.3 KB)
Thanks and Regards,