I am trying to create a humanoid robot with few simple cylinder from scratch in isaac sim by following this. But while playing none of the joints are rotating and robot is falling apart. I have followed below steps:
create xforms for all meshes.
Added physics scene to the world
Added Physics API for all cylindrical parts.
Added fixed joint between body and world frame.
Added revolute joints to all other joint positions.
added Articulation API and drive API to all joints.
Moved the joints to the particular location.
Please let me know what am I missing.
Please find the attached usd file and video of creating that usd file step by step.
Please help me here as I am stuck in this step for a long time to understand this.
Also, it will be really helpful if you can add creating a robot usd(not the objects but setting up overall stage with physics) in isaac sim from scratch in documentation of isaac sim.humanoid.usd (87.9 KB)
If the attached video link does not work please refer this.